Protected Types | Protected Member Functions | Protected Attributes | Static Protected Attributes | List of all members
BFMRScanMatcherTestBase< Map > Class Template Reference
Inheritance diagram for BFMRScanMatcherTestBase< Map >:
Inheritance graph
[legend]

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 ()
 
GridScanMatcherscan_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< ScanProbabilityEstimatorspe
 

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
 

Detailed Description

template<typename Map>
class BFMRScanMatcherTestBase< Map >

Definition at line 15 of file bf_multi_res_sm_smoke_test.cpp.

Member Typedef Documentation

template<typename Map>
using BFMRScanMatcherTestBase< Map >::OOPE = MaxOccupancyObservationPE
protected

Definition at line 19 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
using BFMRScanMatcherTestBase< Map >::SPE = typename ScanMatcherTestBase<Map>::DefaultSPE
protected

Definition at line 18 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
using BFMRScanMatcherTestBase< Map >::SPW = EvenSPW
protected

Definition at line 20 of file bf_multi_res_sm_smoke_test.cpp.

Constructor & Destructor Documentation

template<typename Map>
BFMRScanMatcherTestBase< Map >::BFMRScanMatcherTestBase ( )
inlineprotected

Definition at line 22 of file bf_multi_res_sm_smoke_test.cpp.

Member Function Documentation

template<typename Map>
RobotPoseDelta BFMRScanMatcherTestBase< Map >::default_acceptable_error ( )
inlineoverrideprotectedvirtual

Reimplemented from ScanMatcherTestBase< Map >.

Definition at line 56 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
void BFMRScanMatcherTestBase< Map >::init_pose_facing_top_cecum_bound ( )
inlineprotected

Definition at line 60 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
GridScanMatcher& BFMRScanMatcherTestBase< Map >::scan_matcher ( )
inlineoverrideprotectedvirtual

Implements ScanMatcherTestBase< Map >.

Definition at line 54 of file bf_multi_res_sm_smoke_test.cpp.

Member Data Documentation

template<typename Map>
BFMRScanMatcherTestBase< Map >::bfmrsm
protected
Initial value:
}
protected:
static constexpr int Cecum_Patch_W = 15

Definition at line 27 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
BruteForceMultiResolutionScanMatcher BFMRScanMatcherTestBase< Map >::bfmrsm
protected

Definition at line 74 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
BFMRScanMatcherTestBase< Map >::Cecum_Patch_H = 13
protected

Definition at line 33 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
constexpr int BFMRScanMatcherTestBase< Map >::LS_FoW = 270
staticprotected

Definition at line 43 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
constexpr double BFMRScanMatcherTestBase< Map >::LS_Max_Dist = 15
staticprotected

Definition at line 42 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
constexpr int BFMRScanMatcherTestBase< Map >::LS_Pts_Nm = 5000
staticprotected

Definition at line 44 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
constexpr int BFMRScanMatcherTestBase< Map >::Map_Height = 100
staticprotected

Definition at line 39 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
constexpr double BFMRScanMatcherTestBase< Map >::Map_Scale = 0.125
staticprotected

Definition at line 37 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
constexpr int BFMRScanMatcherTestBase< Map >::Map_Width = 100
staticprotected

Definition at line 38 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
constexpr int BFMRScanMatcherTestBase< Map >::Patch_Scale = 1
staticprotected

Definition at line 34 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
constexpr double BFMRScanMatcherTestBase< Map >::SM_Ang_Step = deg2rad(0.5)
staticprotected

Definition at line 49 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
constexpr double BFMRScanMatcherTestBase< Map >::SM_Max_Rotation_Error = deg2rad(5)
staticprotected

Definition at line 47 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
constexpr double BFMRScanMatcherTestBase< Map >::SM_Max_Translation_Error = Map_Scale * 10
staticprotected

Definition at line 48 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>
constexpr double BFMRScanMatcherTestBase< Map >::SM_Transl_Step = Map_Scale / 2
staticprotected

Definition at line 50 of file bf_multi_res_sm_smoke_test.cpp.


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


slam_constructor
Author(s): JetBrains Research, OSLL team
autogenerated on Mon Jun 10 2019 15:08:26