mrpt_rbpf_slam::PFslam Class Reference

The PFslam class provides Rao-Blackwellized Particle filter SLAM from MRPT libraries. More...

#include <mrpt_rbpf_slam.h>

Inheritance diagram for mrpt_rbpf_slam::PFslam:

Classes
struct	Options

Public Member Functions
void	init3Dwindow ()
void	initSlam (Options options)
	initialize the SLAM More...
void	observation (const mrpt::obs::CSensoryFrame::ConstPtr sensory_frame, const mrpt::obs::CObservationOdometry::ConstPtr odometry)
	Calculate the actions from odometry model for current observation. More...
	PFslam ()=default
void	readIniFile (const std::string &ini_filename)
	Read ini file. More...
void	readRawlog (const std::string &rawlog_filename, std::vector< std::pair< mrpt::obs::CActionCollection, mrpt::obs::CSensoryFrame >> &data)
	Read pairs of actions and observations from rawlog file. More...
void	run3Dwindow ()
virtual	~PFslam ()

Public Attributes
struct mrpt_rbpf_slam::PFslam::Options	options_

Protected Attributes
mrpt::obs::CActionCollection::Ptr	action_
	actions More...
mrpt::poses::CPose3DPDFParticles	curPDF
	current robot pose More...
mrpt::slam::CMetricMapBuilderRBPF	mapBuilder_
	map builder More...
const mrpt::maps::CMultiMetricMap *	metric_map_
	receive map after iteration of SLAM to metric map More...
mrpt::poses::CPose2D	odomLastObservation_
	last observation of odometry More...
mrpt::obs::CSensoryFrame::Ptr	sensory_frame_
	observations More...
mrpt::system::TTimeStamp	timeLastUpdate_
	last update of the pose and map More...
bool	use_motion_model_default_options_
	used default odom_params More...
mrpt::gui::CDisplayWindow3D::Ptr	win3D_
	MRPT window. More...

Detailed Description

The PFslam class provides Rao-Blackwellized Particle filter SLAM from MRPT libraries.

Definition at line 47 of file mrpt_rbpf_slam.h.

Constructor & Destructor Documentation

mrpt_rbpf_slam::PFslam::PFslam ( )

default

mrpt_rbpf_slam::PFslam::~PFslam ( )

virtual

Definition at line 16 of file mrpt_rbpf_slam.cpp.

Member Function Documentation

void mrpt_rbpf_slam::PFslam::init3Dwindow

(

)

Definition at line 150 of file mrpt_rbpf_slam.cpp.

void mrpt_rbpf_slam::PFslam::initSlam

(

PFslam::Options

options

)

initialize the SLAM

Definition at line 104 of file mrpt_rbpf_slam.cpp.

void mrpt_rbpf_slam::PFslam::observation	(	const mrpt::obs::CSensoryFrame::ConstPtr	sensory_frame,
		const mrpt::obs::CObservationOdometry::ConstPtr	odometry
	)

Calculate the actions from odometry model for current observation.

Parameters

[in]	sensory_frame	current observation
[in]	odometry	raw odometry

Definition at line 85 of file mrpt_rbpf_slam.cpp.

void mrpt_rbpf_slam::PFslam::readIniFile

(

const std::string &

ini_filename

)

Read ini file.

Parameters

[in]

ini_filename

the name of the ini file to read

Definition at line 43 of file mrpt_rbpf_slam.cpp.

void mrpt_rbpf_slam::PFslam::readRawlog	(	const std::string &	rawlog_filename,
		std::vector< std::pair< mrpt::obs::CActionCollection, mrpt::obs::CSensoryFrame >> &	data
	)

Read pairs of actions and observations from rawlog file.

Parameters

[in]	rawlog_filename	the name of rawlog file to read
[out]	data	vector of pairs of actions and observations

Definition at line 54 of file mrpt_rbpf_slam.cpp.

void mrpt_rbpf_slam::PFslam::run3Dwindow

(

)

Definition at line 162 of file mrpt_rbpf_slam.cpp.

Member Data Documentation

mrpt::obs::CActionCollection::Ptr mrpt_rbpf_slam::PFslam::action_

protected

actions

Definition at line 101 of file mrpt_rbpf_slam.h.

mrpt::poses::CPose3DPDFParticles mrpt_rbpf_slam::PFslam::curPDF

protected

current robot pose

Definition at line 109 of file mrpt_rbpf_slam.h.

mrpt::slam::CMetricMapBuilderRBPF mrpt_rbpf_slam::PFslam::mapBuilder_

protected

map builder

Definition at line 100 of file mrpt_rbpf_slam.h.

const mrpt::maps::CMultiMetricMap* mrpt_rbpf_slam::PFslam::metric_map_

protected

receive map after iteration of SLAM to metric map

Definition at line 108 of file mrpt_rbpf_slam.h.

mrpt::poses::CPose2D mrpt_rbpf_slam::PFslam::odomLastObservation_

protected

last observation of odometry

Definition at line 104 of file mrpt_rbpf_slam.h.

struct mrpt_rbpf_slam::PFslam::Options mrpt_rbpf_slam::PFslam::options_

mrpt::obs::CSensoryFrame::Ptr mrpt_rbpf_slam::PFslam::sensory_frame_

protected

observations

Definition at line 102 of file mrpt_rbpf_slam.h.

mrpt::system::TTimeStamp mrpt_rbpf_slam::PFslam::timeLastUpdate_

protected

last update of the pose and map

Definition at line 106 of file mrpt_rbpf_slam.h.

bool mrpt_rbpf_slam::PFslam::use_motion_model_default_options_

protected

used default odom_params

Definition at line 105 of file mrpt_rbpf_slam.h.

mrpt::gui::CDisplayWindow3D::Ptr mrpt_rbpf_slam::PFslam::win3D_

protected

MRPT window.

Definition at line 111 of file mrpt_rbpf_slam.h.

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

• mrpt_rbpf_slam.h
• mrpt_rbpf_slam.cpp