GridSlamProcessorThread Struct Reference

#include <gsp_thread.h>

Inheritance diagram for GridSlamProcessorThread:

Classes
struct	DoneEvent
struct	Event
struct	MapEvent
struct	ParticleMoveEvent
struct	ResampleEvent
struct	TruePosEvent

Public Types
typedef deque< Event * >	EventDeque
Public Types inherited from GMapping::GridSlamProcessor
typedef std::vector< Particle >	ParticleVector
typedef std::deque< GridSlamProcessor::TNode * >	TNodeDeque
typedef std::vector< GridSlamProcessor::TNode * >	TNodeVector

Public Member Functions
OrientedPoint	boundingBox (SensorLog *log, double &xmin, double &ymin, double &xmax, double &ymax) const
EventDeque	getEvents ()
std::vector< OrientedPoint >	getHypotheses ()
std::vector< unsigned int >	getIndexes ()
	GridSlamProcessorThread ()
int	init (int argc, const char *const *argv)
bool	isRunning () const
int	loadFiles (const char *fn=0)
virtual void	onOdometryUpdate ()
virtual void	onResampleUpdate ()
virtual void	onScanmatchUpdate ()
void	setEventBufferSize (unsigned int length)
void	setMapUpdateTime (unsigned int ut)
void	start ()
void	stop ()
virtual void	syncOdometryUpdate ()
virtual void	syncResampleUpdate ()
virtual void	syncScanmatchUpdate ()
	~GridSlamProcessorThread ()
Public Member Functions inherited from GMapping::GridSlamProcessor
GridSlamProcessor *	clone () const
int	getBestParticleIndex () const
const std::vector< unsigned int > &	getIndexes () const
const ParticleVector &	getParticles () const
TNodeVector	getTrajectories () const
	GridSlamProcessor ()
	GridSlamProcessor (std::ostream &infoStr)
std::ostream &	infoStream ()
void	init (unsigned int size, double xmin, double ymin, double xmax, double ymax, double delta, OrientedPoint initialPose=OrientedPoint(0, 0, 0))
void	integrateScanSequence (TNode *node)
	MEMBER_PARAM_SET_GET (m_matcher, double, laserMaxRange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, usableRange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, gaussianSigma, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, likelihoodSigma, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, int, kernelSize, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, optAngularDelta, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, optLinearDelta, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, unsigned int, optRecursiveIterations, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, unsigned int, likelihoodSkip, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, llsamplerange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, lasamplerange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, llsamplestep, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, lasamplestep, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, bool, generateMap, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, bool, enlargeStep, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, OrientedPoint, laserPose, protected, public, public)
std::ofstream &	outputStream ()
	PARAM_SET_GET (double, minimumScore, protected, public, public)
bool	processScan (const RangeReading &reading, int adaptParticles=0)
void	processTruePos (const OdometryReading &odometry)
void	setMatchingParameters (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, double likelihoodSigma=1, double likelihoodGain=1, unsigned int likelihoodSkip=0)
void	setMotionModelParameters (double srr, double srt, double str, double stt)
void	setSensorMap (const SensorMap &smap)
void	setUpdateDistances (double linear, double angular, double resampleThreshold)
void	setUpdatePeriod (double p)
	STRUCT_PARAM_SET_GET (m_motionModel, double, srr, protected, public, public)
	STRUCT_PARAM_SET_GET (m_motionModel, double, srt, protected, public, public)
	STRUCT_PARAM_SET_GET (m_motionModel, double, str, protected, public, public)
	STRUCT_PARAM_SET_GET (m_motionModel, double, stt, protected, public, public)
virtual	~GridSlamProcessor ()

Static Public Member Functions
static void *	fastslamthread (GridSlamProcessorThread *gpt)

Private Member Functions
void	addEvent (Event *)

Private Attributes
double	angularOdometryReliability
double	angularUpdate
double	astep
bool	autosize
bool	considerOdometryCovariance
double	critscore
double	delta
EventDeque	eventBuffer
unsigned int	eventBufferLength
std::string	filename
bool	generateMap
pthread_t	gfs_thread
pthread_mutex_t	hist_mutex
pthread_mutex_t	hp_mutex
std::vector< OrientedPoint >	hypotheses
pthread_mutex_t	ind_mutex
std::vector< unsigned int >	indexes
InputSensorStream *	input
int	iterations
int	kernelSize
double	lasamplerange
double	lasamplestep
double	linearOdometryReliability
double	linearUpdate
double	llsamplerange
double	llsamplestep
double	lsigma
unsigned int	lskip
double	lstep
unsigned int	m_argc
const char *const *	m_argv
unsigned int	mapTimer
unsigned int	mapUpdateTime
double	maxMove
double	maxrange
double	maxUrange
double	ogain
bool	onLine
std::string	outfilename
int	particles
std::ifstream	plainStream
unsigned int	randseed
bool	readFromStdin
double	regscore
double	resampleThreshold
bool	running
SensorMap	sensorMap
double	sigma
bool	skipMatching
double	srr
double	srt
double	str
double	stt
std::vector< double >	weightSums
double	xmax
double	xmin
double	ymax
double	ymin

Additional Inherited Members
Public Attributes inherited from GMapping::GridSlamProcessor
ScanMatcher	m_matcher
Protected Member Functions inherited from GMapping::GridSlamProcessor
	GridSlamProcessor (const GridSlamProcessor &gsp)
	PARAM_GET (double, neff, protected, public)
	PARAM_GET (double, xmin, protected, public)
	PARAM_GET (double, ymin, protected, public)
	PARAM_GET (double, xmax, protected, public)
	PARAM_GET (double, ymax, protected, public)
	PARAM_GET (double, delta, protected, public)
	PARAM_SET_GET (double, resampleThreshold, protected, public, public)
	PARAM_SET_GET (double, regScore, protected, public, public)
	PARAM_SET_GET (double, critScore, protected, public, public)
	PARAM_SET_GET (double, maxMove, protected, public, public)
	PARAM_SET_GET (double, linearThresholdDistance, protected, public, public)
	PARAM_SET_GET (double, angularThresholdDistance, protected, public, public)
	PARAM_SET_GET (double, obsSigmaGain, protected, public, public)
Protected Attributes inherited from GMapping::GridSlamProcessor
double	last_update_time_
double	m_angularDistance
unsigned int	m_beams
int	m_count
std::vector< unsigned int >	m_indexes
std::ostream &	m_infoStream
OrientedPoint	m_lastPartPose
double	m_linearDistance
MotionModel	m_motionModel
OrientedPoint	m_odoPose
std::ofstream	m_outputStream
ParticleVector	m_particles
OrientedPoint	m_pose
int	m_readingCount
std::vector< double >	m_weights
double	period_

Detailed Description

Definition at line 43 of file gsp_thread.h.

Member Typedef Documentation

typedef deque<Event*> GridSlamProcessorThread::EventDeque

Definition at line 73 of file gsp_thread.h.

Constructor & Destructor Documentation

GridSlamProcessorThread::GridSlamProcessorThread

(

)

Definition at line 189 of file gsp_thread.cpp.

GridSlamProcessorThread::~GridSlamProcessorThread

(

)

Definition at line 268 of file gsp_thread.cpp.

Member Function Documentation

void GridSlamProcessorThread::addEvent ( GridSlamProcessorThread::Event *  e )

private

Definition at line 605 of file gsp_thread.cpp.

OrientedPoint GridSlamProcessorThread::boundingBox	(	SensorLog *	log,
		double &	xmin,
		double &	ymin,
		double &	xmax,
		double &	ymax
	)		const

Definition at line 635 of file gsp_thread.cpp.

void * GridSlamProcessorThread::fastslamthread ( GridSlamProcessorThread *  gpt )

static

Definition at line 278 of file gsp_thread.cpp.

GridSlamProcessorThread::EventDeque GridSlamProcessorThread::getEvents

(

)

Definition at line 616 of file gsp_thread.cpp.

std::vector< OrientedPoint > GridSlamProcessorThread::getHypotheses

(

)

Definition at line 486 of file gsp_thread.cpp.

std::vector< unsigned int > GridSlamProcessorThread::getIndexes

(

)

Definition at line 493 of file gsp_thread.cpp.

int GridSlamProcessorThread::init	(	int	argc,
		const char *const *	argv
	)

Definition at line 37 of file gsp_thread.cpp.

bool GridSlamProcessorThread::isRunning ( ) const

inline

Definition at line 98 of file gsp_thread.h.

int GridSlamProcessorThread::loadFiles

(

const char *

fn = 0

)

Definition at line 154 of file gsp_thread.cpp.

void GridSlamProcessorThread::onOdometryUpdate ( )

virtual

Reimplemented from GMapping::GridSlamProcessor.

Definition at line 517 of file gsp_thread.cpp.

void GridSlamProcessorThread::onResampleUpdate ( )

virtual

Reimplemented from GMapping::GridSlamProcessor.

Definition at line 538 of file gsp_thread.cpp.

void GridSlamProcessorThread::onScanmatchUpdate ( )

virtual

Reimplemented from GMapping::GridSlamProcessor.

Definition at line 556 of file gsp_thread.cpp.

void GridSlamProcessorThread::setEventBufferSize

(

unsigned int

length

)

Definition at line 631 of file gsp_thread.cpp.

void GridSlamProcessorThread::setMapUpdateTime ( unsigned int  ut )

inline

Definition at line 97 of file gsp_thread.h.

void GridSlamProcessorThread::start

(

)

Definition at line 500 of file gsp_thread.cpp.

void GridSlamProcessorThread::stop

(

)

Definition at line 507 of file gsp_thread.cpp.

void GridSlamProcessorThread::syncOdometryUpdate ( )

virtual

Definition at line 596 of file gsp_thread.cpp.

void GridSlamProcessorThread::syncResampleUpdate ( )

virtual

Definition at line 599 of file gsp_thread.cpp.

void GridSlamProcessorThread::syncScanmatchUpdate ( )

virtual

Definition at line 602 of file gsp_thread.cpp.

Member Data Documentation

double GridSlamProcessorThread::angularOdometryReliability

private

Definition at line 148 of file gsp_thread.h.

double GridSlamProcessorThread::angularUpdate

private

Definition at line 158 of file gsp_thread.h.

double GridSlamProcessorThread::astep

private

Definition at line 135 of file gsp_thread.h.

bool GridSlamProcessorThread::autosize

private

Definition at line 125 of file gsp_thread.h.

bool GridSlamProcessorThread::considerOdometryCovariance

private

Definition at line 169 of file gsp_thread.h.

double GridSlamProcessorThread::critscore

private

Definition at line 138 of file gsp_thread.h.

double GridSlamProcessorThread::delta

private

Definition at line 126 of file gsp_thread.h.

EventDeque GridSlamProcessorThread::eventBuffer

private

Definition at line 103 of file gsp_thread.h.

unsigned int GridSlamProcessorThread::eventBufferLength

private

Definition at line 105 of file gsp_thread.h.

std::string GridSlamProcessorThread::filename

private

Definition at line 118 of file gsp_thread.h.

bool GridSlamProcessorThread::generateMap

private

Definition at line 168 of file gsp_thread.h.

pthread_t GridSlamProcessorThread::gfs_thread

private

Definition at line 114 of file gsp_thread.h.

pthread_mutex_t GridSlamProcessorThread::hist_mutex

private

Definition at line 113 of file gsp_thread.h.

pthread_mutex_t GridSlamProcessorThread::hp_mutex

private

Definition at line 113 of file gsp_thread.h.

std::vector<OrientedPoint> GridSlamProcessorThread::hypotheses

private

Definition at line 110 of file gsp_thread.h.

pthread_mutex_t GridSlamProcessorThread::ind_mutex

private

Definition at line 113 of file gsp_thread.h.

std::vector<unsigned int> GridSlamProcessorThread::indexes

private

Definition at line 111 of file gsp_thread.h.

InputSensorStream* GridSlamProcessorThread::input

private

Definition at line 164 of file gsp_thread.h.

int GridSlamProcessorThread::iterations

private

Definition at line 137 of file gsp_thread.h.

int GridSlamProcessorThread::kernelSize

private

Definition at line 136 of file gsp_thread.h.

double GridSlamProcessorThread::lasamplerange

private

Definition at line 145 of file gsp_thread.h.

double GridSlamProcessorThread::lasamplestep

private

Definition at line 146 of file gsp_thread.h.

double GridSlamProcessorThread::linearOdometryReliability

private

Definition at line 147 of file gsp_thread.h.

double GridSlamProcessorThread::linearUpdate

private

Definition at line 159 of file gsp_thread.h.

double GridSlamProcessorThread::llsamplerange

private

Definition at line 145 of file gsp_thread.h.

double GridSlamProcessorThread::llsamplestep

private

Definition at line 146 of file gsp_thread.h.

double GridSlamProcessorThread::lsigma

private

Definition at line 143 of file gsp_thread.h.

unsigned int GridSlamProcessorThread::lskip

private

Definition at line 140 of file gsp_thread.h.

double GridSlamProcessorThread::lstep

private

Definition at line 134 of file gsp_thread.h.

unsigned int GridSlamProcessorThread::m_argc

private

Definition at line 174 of file gsp_thread.h.

const char* const* GridSlamProcessorThread::m_argv

private

Definition at line 173 of file gsp_thread.h.

unsigned int GridSlamProcessorThread::mapTimer

private

Definition at line 107 of file gsp_thread.h.

unsigned int GridSlamProcessorThread::mapUpdateTime

private

Definition at line 106 of file gsp_thread.h.

double GridSlamProcessorThread::maxMove

private

Definition at line 139 of file gsp_thread.h.

double GridSlamProcessorThread::maxrange

private

Definition at line 131 of file gsp_thread.h.

double GridSlamProcessorThread::maxUrange

private

Definition at line 132 of file gsp_thread.h.

double GridSlamProcessorThread::ogain

private

Definition at line 144 of file gsp_thread.h.

bool GridSlamProcessorThread::onLine

private

Definition at line 167 of file gsp_thread.h.

std::string GridSlamProcessorThread::outfilename

private

Definition at line 119 of file gsp_thread.h.

int GridSlamProcessorThread::particles

private

Definition at line 154 of file gsp_thread.h.

std::ifstream GridSlamProcessorThread::plainStream

private

Definition at line 165 of file gsp_thread.h.

unsigned int GridSlamProcessorThread::randseed

private

Definition at line 170 of file gsp_thread.h.

bool GridSlamProcessorThread::readFromStdin

private

Definition at line 166 of file gsp_thread.h.

double GridSlamProcessorThread::regscore

private

Definition at line 133 of file gsp_thread.h.

double GridSlamProcessorThread::resampleThreshold

private

Definition at line 127 of file gsp_thread.h.

bool GridSlamProcessorThread::running

private

Definition at line 115 of file gsp_thread.h.

SensorMap GridSlamProcessorThread::sensorMap

private

Definition at line 162 of file gsp_thread.h.

double GridSlamProcessorThread::sigma

private

Definition at line 130 of file gsp_thread.h.

bool GridSlamProcessorThread::skipMatching

private

Definition at line 155 of file gsp_thread.h.

double GridSlamProcessorThread::srr

private

Definition at line 152 of file gsp_thread.h.

double GridSlamProcessorThread::srt

private

Definition at line 152 of file gsp_thread.h.

double GridSlamProcessorThread::str

private

Definition at line 152 of file gsp_thread.h.

double GridSlamProcessorThread::stt

private

Definition at line 152 of file gsp_thread.h.

std::vector<double> GridSlamProcessorThread::weightSums

private

Definition at line 112 of file gsp_thread.h.

double GridSlamProcessorThread::xmax

private

Definition at line 123 of file gsp_thread.h.

double GridSlamProcessorThread::xmin

private

Definition at line 121 of file gsp_thread.h.

double GridSlamProcessorThread::ymax

private

Definition at line 124 of file gsp_thread.h.

double GridSlamProcessorThread::ymin

private

Definition at line 122 of file gsp_thread.h.

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

• gsp_thread.h
• gsp_thread.cpp