BruteForceScanMatcherSmokeTest Class Reference

Inheritance diagram for BruteForceScanMatcherSmokeTest:

Protected Types
using	OOPE = ObstacleBasedOccupancyObservationPE
using	SPE = typename ScanMatcherTestBase< UnboundedPlainGridMap >::DefaultSPE
using	SPW = EvenSPW
Protected Types inherited from ScanMatcherTestBase< UnboundedPlainGridMap >
using	DefaultSPE = WeightedMeanPointProbabilitySPE

Protected Member Functions
	BruteForceScanMatcherSmokeTest ()
void	init_pose_facing_top_cecum_bound ()
GridScanMatcher &	scan_matcher () override
Protected Member Functions inherited from ScanMatcherTestBase< UnboundedPlainGridMap >
virtual void	add_primitive_to_map (const TextRasterMapPrimitive &mp, const DiscretePoint2D &offset, int w_scale, int h_scale)
virtual RobotPoseDelta	default_acceptable_error ()
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
BruteForceScanMatcher	_bfsm
Protected Attributes inherited from ScanMatcherTestBase< UnboundedPlainGridMap >
LaserScannerParams	default_lsp
UnboundedPlainGridMap	map
RobotPose	rpose
std::shared_ptr< ScanProbabilityEstimator >	spe

Static Protected Attributes
static constexpr int	Cecum_Patch_H = 13
static constexpr int	Cecum_Patch_W = 15
static constexpr double	From_Rotation = deg2rad(-10)
static constexpr double	From_Translation = -0.5
static constexpr int	LS_FoW = 270
static constexpr double	LS_Max_Dist = 15
static constexpr int	LS_Pts_Nm = 10
static constexpr int	Map_Height = 100
static constexpr double	Map_Scale = 0.1
static constexpr int	Map_Width = 100
static constexpr int	Patch_Scale = 1
static constexpr double	Step_Rotation = deg2rad(1)
static constexpr double	Step_Translation = 0.05
static constexpr double	To_Rotation = deg2rad(10)
static constexpr double	To_Translation = 0.5
Static Protected Attributes inherited from ScanMatcherTestBase< UnboundedPlainGridMap >
static constexpr RobotPoseDelta	Acceptable_Error

Detailed Description

Definition at line 16 of file brute_force_sm_smoke_test.cpp.

Member Typedef Documentation

using BruteForceScanMatcherSmokeTest::OOPE = ObstacleBasedOccupancyObservationPE

protected

Definition at line 44 of file brute_force_sm_smoke_test.cpp.

using BruteForceScanMatcherSmokeTest::SPE = typename ScanMatcherTestBase<UnboundedPlainGridMap>::DefaultSPE

protected

Definition at line 43 of file brute_force_sm_smoke_test.cpp.

using BruteForceScanMatcherSmokeTest::SPW = EvenSPW

protected

Definition at line 45 of file brute_force_sm_smoke_test.cpp.

Constructor & Destructor Documentation

BruteForceScanMatcherSmokeTest::BruteForceScanMatcherSmokeTest ( )

inlineprotected

Definition at line 47 of file brute_force_sm_smoke_test.cpp.

Member Function Documentation

void BruteForceScanMatcherSmokeTest::init_pose_facing_top_cecum_bound ( )

inlineprotected

Definition at line 59 of file brute_force_sm_smoke_test.cpp.

GridScanMatcher& BruteForceScanMatcherSmokeTest::scan_matcher ( )

inlineoverrideprotectedvirtual

Implements ScanMatcherTestBase< UnboundedPlainGridMap >.

Definition at line 57 of file brute_force_sm_smoke_test.cpp.

Member Data Documentation

BruteForceScanMatcher BruteForceScanMatcherSmokeTest::_bfsm

protected

Definition at line 73 of file brute_force_sm_smoke_test.cpp.

constexpr int BruteForceScanMatcherSmokeTest::Cecum_Patch_H = 13

staticprotected

Definition at line 27 of file brute_force_sm_smoke_test.cpp.

constexpr int BruteForceScanMatcherSmokeTest::Cecum_Patch_W = 15

staticprotected

Definition at line 27 of file brute_force_sm_smoke_test.cpp.

constexpr double BruteForceScanMatcherSmokeTest::From_Rotation = deg2rad(-10)

staticprotected

Definition at line 39 of file brute_force_sm_smoke_test.cpp.

constexpr double BruteForceScanMatcherSmokeTest::From_Translation = -0.5

staticprotected

Definition at line 36 of file brute_force_sm_smoke_test.cpp.

constexpr int BruteForceScanMatcherSmokeTest::LS_FoW = 270

staticprotected

Definition at line 32 of file brute_force_sm_smoke_test.cpp.

constexpr double BruteForceScanMatcherSmokeTest::LS_Max_Dist = 15

staticprotected

Definition at line 31 of file brute_force_sm_smoke_test.cpp.

constexpr int BruteForceScanMatcherSmokeTest::LS_Pts_Nm = 10

staticprotected

Definition at line 33 of file brute_force_sm_smoke_test.cpp.

constexpr int BruteForceScanMatcherSmokeTest::Map_Height = 100

staticprotected

Definition at line 23 of file brute_force_sm_smoke_test.cpp.

constexpr double BruteForceScanMatcherSmokeTest::Map_Scale = 0.1

staticprotected

Definition at line 24 of file brute_force_sm_smoke_test.cpp.

constexpr int BruteForceScanMatcherSmokeTest::Map_Width = 100

staticprotected

Definition at line 22 of file brute_force_sm_smoke_test.cpp.

constexpr int BruteForceScanMatcherSmokeTest::Patch_Scale = 1

staticprotected

Definition at line 28 of file brute_force_sm_smoke_test.cpp.

constexpr double BruteForceScanMatcherSmokeTest::Step_Rotation = deg2rad(1)

staticprotected

Definition at line 41 of file brute_force_sm_smoke_test.cpp.

constexpr double BruteForceScanMatcherSmokeTest::Step_Translation = 0.05

staticprotected

Definition at line 38 of file brute_force_sm_smoke_test.cpp.

constexpr double BruteForceScanMatcherSmokeTest::To_Rotation = deg2rad(10)

staticprotected

Definition at line 40 of file brute_force_sm_smoke_test.cpp.

constexpr double BruteForceScanMatcherSmokeTest::To_Translation = 0.5

staticprotected

Definition at line 37 of file brute_force_sm_smoke_test.cpp.

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

• brute_force_sm_smoke_test.cpp