TinyWorld Class Reference

The class implements the tinySLAM-specific map update logic. More...

#include <tiny_world.h>

Inheritance diagram for TinyWorld:

List of all members.

Public Member Functions
virtual void	handle_observation (TransformedLaserScan &scan) override
virtual void	handle_scan_point (GridMap &map, double laser_x, double laser_y, double beam_end_x, double beam_end_y, bool is_occ, double quality) override
std::shared_ptr< GridScanMatcher >	scan_matcher ()
	TinyWorld (std::shared_ptr< GridCellStrategy > gcs, const TinyWorldParams &params, const GridMapParams &init_map_params)
Private Attributes
std::shared_ptr< GridCellStrategy >	_gcs
const TinyWorldParams	_params
std::shared_ptr< TinyScanMatcher >	_scan_matcher

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Detailed Description

The class implements the tinySLAM-specific map update logic.

There is an robot state correction based on used scan matcher rules and the map update based on the algorithm from the paper with a wall blur.

Definition at line 40 of file tiny_world.h.

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Constructor & Destructor Documentation

TinyWorld::TinyWorld	(	std::shared_ptr< GridCellStrategy >	gcs,
		const TinyWorldParams &	params,
		const GridMapParams &	init_map_params
	)		[inline]

Initializes the world to produce tiny SLAM.

Parameters:

[in]	gcs	- a shared pointer to a cell-specific strategy.
[in]	params	- the initial values for tinySLAM (see TinyWorldParams).

Definition at line 50 of file tiny_world.h.

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Member Function Documentation

virtual void TinyWorld::handle_observation

(

TransformedLaserScan &

scan

)

[inline, override, virtual]

Updates the robot pose and the map by a prediction-correction scheme.
Updates the map depends on whether the robot pose have been changed during a correction step.

Parameters:

[in]

scan

- data from a laser scanner.

Reimplemented from LaserScanGridWorld.

Definition at line 64 of file tiny_world.h.

virtual void TinyWorld::handle_scan_point	(	GridMap &	map,
		double	laser_x,
		double	laser_y,
		double	beam_end_x,
		double	beam_end_y,
		bool	is_occ,
		double	quality
	)		[inline, override, virtual]

Updates the map with a given laser scan point.
Estimates the occupancy of the cell with an obstacle (beam_end_x, beam_end_y).
And after that there is a "wall blur".

Parameters:

[in]	map	- the map of the environment.
[in]	laser_x,laser_y	- the beginning coordinates of the laser ray.
[in]	beam_end_x,beam_end_y	- the ending coordinates of the laser ray
[in]	is_occ	- the parameter which shows whether this cell is occupied or not.
[in]	quality	- the quality of the laser scanner.

Definition at line 88 of file tiny_world.h.

std::shared_ptr<GridScanMatcher> TinyWorld::scan_matcher

(

)

[inline]

Returns a pointer to the scan matcher used for the robot pose correction.

Definition at line 123 of file tiny_world.h.

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Member Data Documentation

std::shared_ptr<GridCellStrategy> TinyWorld::_gcs [private]

Definition at line 127 of file tiny_world.h.

const TinyWorldParams TinyWorld::_params [private]

Definition at line 128 of file tiny_world.h.

std::shared_ptr<TinyScanMatcher> TinyWorld::_scan_matcher [private]

Definition at line 129 of file tiny_world.h.

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

• tiny_world.h