Protected Types | |
using | OOPE = MaxOccupancyObservationPE |
using | SPE = typename ScanMatcherTestBase< Map >::DefaultSPE |
using | SPW = EvenSPW |
Protected Types inherited from ScanMatcherTestBase< Map > | |
using | DefaultSPE = WeightedMeanPointProbabilitySPE |
Protected Member Functions | |
BFMRScanMatcherTestBase () | |
RobotPoseDelta | default_acceptable_error () override |
void | init_pose_facing_top_cecum_bound () |
GridScanMatcher & | scan_matcher () override |
Protected Member Functions inherited from ScanMatcherTestBase< Map > | |
virtual void | add_primitive_to_map (const TextRasterMapPrimitive &mp, const DiscretePoint2D &offset, int w_scale, int h_scale) |
virtual bool | is_result_noise_acceptable (const TransformedLaserScan &raw_scan, const RobotPoseDelta &init_noise, const RobotPoseDelta &noise) |
ScanMatcherTestBase (std::shared_ptr< ScanProbabilityEstimator > prob_est, int map_w, int map_h, double map_scale, const LaserScannerParams &dflt_lsp) | |
void | test_scan_matcher (const LaserScannerParams &lsp, const RobotPoseDelta &noise, const RobotPoseDelta &acc_error) |
void | test_scan_matcher (const RobotPoseDelta &noise, const RobotPoseDelta &acc_error) |
void | test_scan_matcher (const RobotPoseDelta &noise) |
Protected Attributes | |
bfmrsm | |
BruteForceMultiResolutionScanMatcher | bfmrsm |
Cecum_Patch_H = 13 | |
Protected Attributes inherited from ScanMatcherTestBase< Map > | |
LaserScannerParams | default_lsp |
Map | map |
RobotPose | rpose |
std::shared_ptr< ScanProbabilityEstimator > | spe |
Static Protected Attributes | |
static constexpr int | LS_FoW = 270 |
static constexpr double | LS_Max_Dist = 15 |
static constexpr int | LS_Pts_Nm = 5000 |
static constexpr int | Map_Height = 100 |
static constexpr double | Map_Scale = 0.125 |
static constexpr int | Map_Width = 100 |
static constexpr int | Patch_Scale = 1 |
static constexpr double | SM_Ang_Step = deg2rad(0.5) |
static constexpr double | SM_Max_Rotation_Error = deg2rad(5) |
static constexpr double | SM_Max_Translation_Error = Map_Scale * 10 |
static constexpr double | SM_Transl_Step = Map_Scale / 2 |
Static Protected Attributes inherited from ScanMatcherTestBase< Map > | |
static constexpr RobotPoseDelta | Acceptable_Error |
Definition at line 15 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 19 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 18 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 20 of file bf_multi_res_sm_smoke_test.cpp.
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inlineprotected |
Definition at line 22 of file bf_multi_res_sm_smoke_test.cpp.
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inlineoverrideprotectedvirtual |
Reimplemented from ScanMatcherTestBase< Map >.
Definition at line 56 of file bf_multi_res_sm_smoke_test.cpp.
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inlineprotected |
Definition at line 60 of file bf_multi_res_sm_smoke_test.cpp.
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inlineoverrideprotectedvirtual |
Implements ScanMatcherTestBase< Map >.
Definition at line 54 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 27 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 74 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 33 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 43 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 42 of file bf_multi_res_sm_smoke_test.cpp.
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staticprotected |
Definition at line 44 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 39 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 37 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 38 of file bf_multi_res_sm_smoke_test.cpp.
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staticprotected |
Definition at line 34 of file bf_multi_res_sm_smoke_test.cpp.
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staticprotected |
Definition at line 49 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 47 of file bf_multi_res_sm_smoke_test.cpp.
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Definition at line 48 of file bf_multi_res_sm_smoke_test.cpp.
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staticprotected |
Definition at line 50 of file bf_multi_res_sm_smoke_test.cpp.