karto::GridIndexLookup< T > Class Template Reference

#include <Karto.h>

List of all members.

Public Member Functions
void	ComputeOffsets (LocalizedRangeScan *pScan, kt_double angleCenter, kt_double angleOffset, kt_double angleResolution)
const std::vector< kt_double > &	GetAngles () const
const LookupArray *	GetLookupArray (kt_int32u index) const
	GridIndexLookup (Grid< T > *pGrid)
virtual	~GridIndexLookup ()
Private Member Functions
void	ComputeOffsets (kt_int32u angleIndex, kt_double angle, const Pose2Vector &rLocalPoints, LocalizedRangeScan *pScan)
void	DestroyArrays ()
void	SetSize (kt_int32u size)
Private Attributes
std::vector< kt_double >	m_Angles
kt_int32u	m_Capacity
Grid< T > *	m_pGrid
LookupArray **	m_ppLookupArray
kt_int32u	m_Size

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Detailed Description

template<typename T>
class karto::GridIndexLookup< T >

Create lookup tables for point readings at varying angles in grid. For each angle, grid indexes are calculated for each range reading. This is to speed up finding best angle/position for a localized range scan

Used heavily in mapper and localizer.

In the localizer, this is a huge speed up for calculating possible position. For each particle, a probability is calculated. The range scan is the same, but all grid indexes at all possible angles are calculated. So when calculating the particle probability at a specific angle, the index table is used to look up probability in probability grid!

Definition at line 6348 of file Karto.h.

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Constructor & Destructor Documentation

template<typename T>

karto::GridIndexLookup< T >::GridIndexLookup

(

Grid< T > *

pGrid

)

[inline]

Construct a GridIndexLookup with a grid

Parameters:

pGrid

Definition at line 6355 of file Karto.h.

template<typename T>

virtual karto::GridIndexLookup< T >::~GridIndexLookup

(

)

[inline, virtual]

Destructor

Definition at line 6366 of file Karto.h.

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Member Function Documentation

template<typename T>

void karto::GridIndexLookup< T >::ComputeOffsets	(	LocalizedRangeScan *	pScan,
		kt_double	angleCenter,
		kt_double	angleOffset,
		kt_double	angleResolution
	)		[inline]

Compute lookup table of the points of the given scan for the given angular space

Parameters:

pScan	the scan
angleCenter
angleOffset	computes lookup arrays for the angles within this offset around angleStart
angleResolution	how fine a granularity to compute lookup arrays in the angular space

Definition at line 6400 of file Karto.h.

template<typename T>

void karto::GridIndexLookup< T >::ComputeOffsets	(	kt_int32u	angleIndex,
		kt_double	angle,
		const Pose2Vector &	rLocalPoints,
		LocalizedRangeScan *	pScan
	)		[inline, private]

Compute lookup value of points for given angle

Parameters:

angleIndex
angle
rLocalPoints

Definition at line 6446 of file Karto.h.

template<typename T>

void karto::GridIndexLookup< T >::DestroyArrays

(

)

[inline, private]

Delete the arrays

Definition at line 6526 of file Karto.h.

template<typename T>

const std::vector<kt_double>& karto::GridIndexLookup< T >::GetAngles

(

)

const [inline]

Get angles

Returns:

std::vector<kt_double>& angles

Definition at line 6388 of file Karto.h.

template<typename T>

const LookupArray* karto::GridIndexLookup< T >::GetLookupArray

(

kt_int32u

index

)

const [inline]

Gets the lookup array for a particular angle index

Parameters:

index

Returns:

lookup array

Definition at line 6377 of file Karto.h.

template<typename T>

void karto::GridIndexLookup< T >::SetSize

(

kt_int32u

size

)

[inline, private]

Sets size of lookup table (resize if not big enough)

Parameters:

size

Definition at line 6499 of file Karto.h.

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Member Data Documentation

template<typename T>

std::vector<kt_double> karto::GridIndexLookup< T >::m_Angles [private]

Definition at line 6546 of file Karto.h.

template<typename T>

kt_int32u karto::GridIndexLookup< T >::m_Capacity [private]

Definition at line 6540 of file Karto.h.

template<typename T>

Grid<T>* karto::GridIndexLookup< T >::m_pGrid [private]

Definition at line 6538 of file Karto.h.

template<typename T>

LookupArray** karto::GridIndexLookup< T >::m_ppLookupArray [private]

Definition at line 6543 of file Karto.h.

template<typename T>

kt_int32u karto::GridIndexLookup< T >::m_Size [private]

Definition at line 6541 of file Karto.h.

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The documentation for this class was generated from the following file:

• Karto.h