Classes | Public Member Functions | Public Attributes | Protected Attributes | List of all members
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:
Inheritance graph


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::CMultiMetricMapmetric_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 ( )
mrpt_rbpf_slam::PFslam::~PFslam ( )

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.

[in]sensory_framecurrent observation
[in]odometryraw 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.

[in]ini_filenamethe 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.

[in]rawlog_filenamethe name of rawlog file to read
[out]datavector 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_


Definition at line 101 of file mrpt_rbpf_slam.h.

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

current robot pose

Definition at line 109 of file mrpt_rbpf_slam.h.

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

map builder

Definition at line 100 of file mrpt_rbpf_slam.h.

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

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_

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_


Definition at line 102 of file mrpt_rbpf_slam.h.

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

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_

used default odom_params

Definition at line 105 of file mrpt_rbpf_slam.h.

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

MRPT window.

Definition at line 111 of file mrpt_rbpf_slam.h.

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

Author(s): Vladislav Tananaev
autogenerated on Sat May 2 2020 03:44:39