mrpt::slam Namespace Reference

Namespaces
	detail

Classes
class	CGridMapAligner
class	CICP
class	CIncrementalMapPartitioner
class	CMetricMapBuilder
class	CMetricMapBuilderICP
class	CMetricMapBuilderRBPF
class	CMetricMapsAlignmentAlgorithm
class	CMonteCarloLocalization2D
class	CMonteCarloLocalization3D
class	COccupancyGridMapFeatureExtractor
class	CRangeBearingKFSLAM
class	CRangeBearingKFSLAM2D
class	CRejectionSamplingRangeOnlyLocalization
class	PF_implementation
struct	TAuxDataRecursiveJCBB
struct	TDataAssociationResults
class	TKLDParams
struct	TMonteCarloLocalizationParams

Typedefs
typedef mrpt::maps::CLandmark	CLandmark
typedef mrpt::maps::CLandmarkPtr	CLandmarkPtr
typedef mrpt::maps::CLandmarksMap	CLandmarksMap
typedef mrpt::maps::CLandmarksMapPtr	CLandmarksMapPtr
typedef mrpt::maps::CMultiMetricMap	CMultiMetricMap
typedef mrpt::maps::CMultiMetricMapPDF	CMultiMetricMapPDF
typedef mrpt::maps::CMultiMetricMapPDFPtr	CMultiMetricMapPDFPtr
typedef mrpt::maps::CMultiMetricMapPtr	CMultiMetricMapPtr
typedef mrpt::obs::CObservationVisualLandmarks	CObservationVisualLandmarks
typedef mrpt::obs::CObservationVisualLandmarksPtr	CObservationVisualLandmarksPtr
typedef size_t	observation_index_t
typedef size_t	prediction_index_t

Enumerations
enum	TDataAssociationMethod
enum	TDataAssociationMetric
enum	TICPAlgorithm
enum	TICPCovarianceMethod

Functions
void SLAM_IMPEXP	data_association_full_covariance (const mrpt::math::CMatrixDouble &Z_observations_mean, const mrpt::math::CMatrixDouble &Y_predictions_mean, const mrpt::math::CMatrixDouble &Y_predictions_cov, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const std::vector< prediction_index_t > &predictions_IDs=std::vector< prediction_index_t >(), const TDataAssociationMetric compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)
void SLAM_IMPEXP	data_association_independent_predictions (const mrpt::math::CMatrixDouble &Z_observations_mean, const mrpt::math::CMatrixDouble &Y_predictions_mean, const mrpt::math::CMatrixDouble &Y_predictions_cov, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const std::vector< prediction_index_t > &predictions_IDs=std::vector< prediction_index_t >(), const TDataAssociationMetric compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)
bool	isCloser (const double v1, const double v2)
bool	isCloser< metricMaha > (const double v1, const double v2)
bool	isCloser< metricML > (const double v1, const double v2)
void	JCBB_recursive (const mrpt::math::CMatrixTemplateNumeric< T > &Z_observations_mean, const mrpt::math::CMatrixTemplateNumeric< T > &Y_predictions_mean, const mrpt::math::CMatrixTemplateNumeric< T > &Y_predictions_cov, TDataAssociationResults &results, const TAuxDataRecursiveJCBB &info, const observation_index_t curObsIdx)
double	joint_pdf_metric (const CMatrixTemplateNumeric< T > &Z_observations_mean, const CMatrixTemplateNumeric< T > &Y_predictions_mean, const CMatrixTemplateNumeric< T > &Y_predictions_cov, const TAuxDataRecursiveJCBB &info, const TDataAssociationResults &aux_data)
void	KLF_loadBinFromParticle (mrpt::slam::detail::TPoseBin2D &outBin, const TKLDParams &opts, const CMonteCarloLocalization2D::CParticleDataContent *currentParticleValue, const TPose3D *newPoseToBeInserted)
void	KLF_loadBinFromParticle (detail::TPoseBin2D &outBin, const TKLDParams &opts, const mrpt::maps::CRBPFParticleData *currentParticleValue, const TPose3D *newPoseToBeInserted)
void	KLF_loadBinFromParticle (detail::TPathBin2D &outBin, const TKLDParams &opts, const mrpt::maps::CRBPFParticleData *currentParticleValue, const TPose3D *newPoseToBeInserted)
void	KLF_loadBinFromParticle (mrpt::slam::detail::TPoseBin3D &outBin, const TKLDParams &opts, const CMonteCarloLocalization3D::CParticleDataContent *currentParticleValue, const TPose3D *newPoseToBeInserted)
void	KLF_loadBinFromParticle (BINTYPE &outBin, const TKLDParams &opts, const PARTICLETYPE *currentParticleValue=NULL, const mrpt::math::TPose3D *newPoseToBeInserted=NULL)
double SLAM_IMPEXP	observationsOverlap (const mrpt::obs::CObservation *o1, const mrpt::obs::CObservation *o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=NULL)
double	observationsOverlap (const mrpt::obs::CObservationPtr &o1, const mrpt::obs::CObservationPtr &o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=NULL)
double SLAM_IMPEXP	observationsOverlap (const mrpt::obs::CSensoryFrame &sf1, const mrpt::obs::CSensoryFrame &sf2, const mrpt::poses::CPose3D *pose_sf2_wrt_sf1=NULL)
double	observationsOverlap (const mrpt::obs::CSensoryFramePtr &sf1, const mrpt::obs::CSensoryFramePtr &sf2, const mrpt::poses::CPose3D *pose_sf2_wrt_sf1=NULL)

Variables
	assocJCBB
	assocNN
	icpClassic
	icpCovFiniteDifferences
	icpCovLinealMSE
	icpLevenbergMarquardt
	metricMaha
	metricML