Tracks a robots perception of an environment. The environment is represented by a GridMap; A laser scan with transformation is expected as a sensor data. More...
#include <laser_scan_grid_world.h>
Public Member Functions | |
| virtual void | handle_observation (TransformedLaserScan &scan) |
| virtual void | handle_scan_point (MapType &map, double laser_x, double laser_y, double beam_end_x, double beam_end_y, bool is_occ, double quality) |
| LaserScanGridWorld (std::shared_ptr< GridCellStrategy > gcs, const GridMapParams &init_params) | |
| virtual const MapType & | map () const |
| Returns the map. | |
| virtual MapType & | map () |
Private Attributes | |
| MapType | _map |
Detailed Description
Tracks a robots perception of an environment. The environment is represented by a GridMap; A laser scan with transformation is expected as a sensor data.
Definition at line 22 of file laser_scan_grid_world.h.
Constructor & Destructor Documentation
| LaserScanGridWorld::LaserScanGridWorld | ( | std::shared_ptr< GridCellStrategy > | gcs, |
| const GridMapParams & | init_params | ||
| ) | [inline] |
Creates a world as a Map of Grid Cells.
- Parameters:
-
gcs A shared pointer to a cell strategy.
Definition at line 32 of file laser_scan_grid_world.h.
Member Function Documentation
| virtual void LaserScanGridWorld::handle_observation | ( | TransformedLaserScan & | scan | ) | [inline, virtual] |
Updates the map cells according to a given sensor data. Straightforward scan points projection is used.
- Parameters:
-
scan The current scan from Laser Rangefinder.
Implements World< TransformedLaserScan, GridMap >.
Reimplemented in TinyWorld.
Definition at line 41 of file laser_scan_grid_world.h.
| virtual void LaserScanGridWorld::handle_scan_point | ( | MapType & | map, |
| double | laser_x, | ||
| double | laser_y, | ||
| double | beam_end_x, | ||
| double | beam_end_y, | ||
| bool | is_occ, | ||
| double | quality | ||
| ) | [inline, virtual] |
Updates a cell of a given map according to given parameters.
- Parameters:
-
map A current map. laser_x,lasery Coordinates of a laser. beam_end_x,beam_end_y Coordinates of a current point on a scan. is_occ The current assumption whether the cell is occupied. quality A scan quality. The greater the value the more probable the transformed scan.
Definition at line 62 of file laser_scan_grid_world.h.
| virtual const MapType& LaserScanGridWorld::map | ( | ) | const [inline, virtual] |
Returns the map.
Implements World< TransformedLaserScan, GridMap >.
Definition at line 78 of file laser_scan_grid_world.h.
| virtual MapType& LaserScanGridWorld::map | ( | ) | [inline, virtual] |
Definition at line 79 of file laser_scan_grid_world.h.
Member Data Documentation
MapType LaserScanGridWorld::_map [private] |
Definition at line 82 of file laser_scan_grid_world.h.
The documentation for this class was generated from the following file: