GMapping::ScanMatcher Class Reference

#include <scanmatcher.h>

Public Types
typedef Covariance3	CovarianceMatrix

Public Member Functions
void	computeActiveArea (ScanMatcherMap &map, const OrientedPoint &p, const double *readings)
double	icpOptimize (OrientedPoint &pnew, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
double	icpStep (OrientedPoint &pret, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
void	invalidateActiveArea ()
const double *	laserAngles () const
unsigned int	laserBeams () const
double	likelihood (double &lmax, OrientedPoint &mean, CovarianceMatrix &cov, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings)
double	likelihood (double &_lmax, OrientedPoint &_mean, CovarianceMatrix &_cov, const ScanMatcherMap &map, const OrientedPoint &p, Gaussian3 &odometry, const double *readings, double gain=180.)
unsigned int	likelihoodAndScore (double &s, double &l, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
double	optimize (OrientedPoint &pnew, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
double	optimize (OrientedPoint &mean, CovarianceMatrix &cov, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
double	registerScan (ScanMatcherMap &map, const OrientedPoint &p, const double *readings)
	ScanMatcher ()
double	score (const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
void	setLaserParameters (unsigned int beams, double *angles, const OrientedPoint &lpose)
void	setMatchingParameters (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, double likelihoodSigma=1, unsigned int likelihoodSkip=0)
	~ScanMatcher ()

Static Public Attributes
static const double	nullLikelihood =-.5

Protected Attributes
bool	m_activeAreaComputed
double	m_laserAngles [LASER_MAXBEAMS]
unsigned int	m_laserBeams
IntPoint *	m_linePoints

Detailed Description

Definition at line 14 of file scanmatcher.h.

Member Typedef Documentation

typedef Covariance3 GMapping::ScanMatcher::CovarianceMatrix

Definition at line 16 of file scanmatcher.h.

Constructor & Destructor Documentation

GMapping::ScanMatcher::ScanMatcher

(

)

Definition at line 16 of file scanmatcher.cpp.

GMapping::ScanMatcher::~ScanMatcher

(

)

Definition at line 53 of file scanmatcher.cpp.

Member Function Documentation

void GMapping::ScanMatcher::computeActiveArea	(	ScanMatcherMap &	map,
		const OrientedPoint &	p,
		const double *	readings
	)

Definition at line 116 of file scanmatcher.cpp.

double GMapping::ScanMatcher::icpOptimize	(	OrientedPoint &	pnew,
		const ScanMatcherMap &	map,
		const OrientedPoint &	p,
		const double *	readings
	)		const

Definition at line 319 of file scanmatcher.cpp.

double GMapping::ScanMatcher::icpStep ( OrientedPoint &  pret, const ScanMatcherMap &  map, const OrientedPoint &  p, const double *  readings  ) const

inline

Definition at line 76 of file scanmatcher.h.

void GMapping::ScanMatcher::invalidateActiveArea

(

)

Definition at line 57 of file scanmatcher.cpp.

const double* GMapping::ScanMatcher::laserAngles ( ) const

inline

Definition at line 37 of file scanmatcher.h.

unsigned int GMapping::ScanMatcher::laserBeams ( ) const

inline

Definition at line 38 of file scanmatcher.h.

double GMapping::ScanMatcher::likelihood	(	double &	lmax,
		OrientedPoint &	mean,
		CovarianceMatrix &	cov,
		const ScanMatcherMap &	map,
		const OrientedPoint &	p,
		const double *	readings
	)

Definition at line 572 of file scanmatcher.cpp.

double GMapping::ScanMatcher::likelihood	(	double &	_lmax,
		OrientedPoint &	_mean,
		CovarianceMatrix &	_cov,
		const ScanMatcherMap &	map,
		const OrientedPoint &	p,
		Gaussian3 &	odometry,
		const double *	readings,
		double	gain = 180.
	)

Definition at line 639 of file scanmatcher.cpp.

unsigned int GMapping::ScanMatcher::likelihoodAndScore ( double &  s, double &  l, const ScanMatcherMap &  map, const OrientedPoint &  p, const double *  readings  ) const

inline

Definition at line 191 of file scanmatcher.h.

double GMapping::ScanMatcher::optimize	(	OrientedPoint &	pnew,
		const ScanMatcherMap &	map,
		const OrientedPoint &	p,
		const double *	readings
	)		const

Definition at line 337 of file scanmatcher.cpp.

double GMapping::ScanMatcher::optimize	(	OrientedPoint &	mean,
		ScanMatcher::CovarianceMatrix &	_cov,
		const ScanMatcherMap &	map,
		const OrientedPoint &	p,
		const double *	readings
	)		const

Definition at line 430 of file scanmatcher.cpp.

void GMapping::ScanMatcher::registerScan	(	ScanMatcherMap &	map,
		const OrientedPoint &	p,
		const double *	readings
	)

Definition at line 215 of file scanmatcher.cpp.

double GMapping::ScanMatcher::score ( const ScanMatcherMap &  map, const OrientedPoint &  p, const double *  readings  ) const

inline

Definition at line 143 of file scanmatcher.h.

void GMapping::ScanMatcher::setLaserParameters	(	unsigned int	beams,
		double *	angles,
		const OrientedPoint &	lpose
	)

Definition at line 559 of file scanmatcher.cpp.

void GMapping::ScanMatcher::setMatchingParameters	(	double	urange,
		double	range,
		double	sigma,
		int	kernsize,
		double	lopt,
		double	aopt,
		int	iterations,
		double	likelihoodSigma = 1,
		unsigned int	likelihoodSkip = 0
	)

Definition at line 712 of file scanmatcher.cpp.

Member Data Documentation

bool GMapping::ScanMatcher::m_activeAreaComputed

protected

Definition at line 43 of file scanmatcher.h.

double GMapping::ScanMatcher::m_laserAngles[LASER_MAXBEAMS]

protected

Definition at line 47 of file scanmatcher.h.

unsigned int GMapping::ScanMatcher::m_laserBeams

protected

laser parameters

Definition at line 46 of file scanmatcher.h.

IntPoint* GMapping::ScanMatcher::m_linePoints

protected

scan_matcher parameters

Definition at line 73 of file scanmatcher.h.

const double GMapping::ScanMatcher::nullLikelihood =-.5

static

Definition at line 40 of file scanmatcher.h.

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

• scanmatcher.h
• scanmatcher.cpp
• scanmatcher.new.cpp