ScanMatcherTestBase< MapType > Class Template Reference

#include <scan_matcher_test_utils.h>

Inheritance diagram for ScanMatcherTestBase< MapType >:

Protected Types
using	DefaultSPE = WeightedMeanPointProbabilitySPE

Protected Member Functions
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)
virtual GridScanMatcher &	scan_matcher ()=0
	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
LaserScannerParams	default_lsp
MapType	map
RobotPose	rpose
std::shared_ptr< ScanProbabilityEstimator >	spe

Static Protected Attributes
static constexpr RobotPoseDelta	Acceptable_Error

Detailed Description

template<typename MapType>
class ScanMatcherTestBase< MapType >

Definition at line 18 of file scan_matcher_test_utils.h.

Member Typedef Documentation

template<typename MapType>

using ScanMatcherTestBase< MapType >::DefaultSPE = WeightedMeanPointProbabilitySPE

protected

Definition at line 20 of file scan_matcher_test_utils.h.

Constructor & Destructor Documentation

template<typename MapType>

ScanMatcherTestBase< MapType >::ScanMatcherTestBase ( std::shared_ptr< ScanProbabilityEstimator >  prob_est, int  map_w, int  map_h, double  map_scale, const LaserScannerParams &  dflt_lsp  )

inlineprotected

Definition at line 29 of file scan_matcher_test_utils.h.

Member Function Documentation

template<typename MapType>

virtual void ScanMatcherTestBase< MapType >::add_primitive_to_map ( const TextRasterMapPrimitive &  mp, const DiscretePoint2D &  offset, int  w_scale, int  h_scale  )

inlineprotectedvirtual

Definition at line 37 of file scan_matcher_test_utils.h.

template<typename MapType>

virtual RobotPoseDelta ScanMatcherTestBase< MapType >::default_acceptable_error ( )

inlineprotectedvirtual

Reimplemented in BFMRScanMatcherTestBase< Map >, BFMRScanMatcherTestBase< RescalableMap >, and BFMRScanMatcherTestBase< MapType >.

Definition at line 45 of file scan_matcher_test_utils.h.

template<typename MapType>

virtual bool ScanMatcherTestBase< MapType >::is_result_noise_acceptable ( const TransformedLaserScan &  raw_scan, const RobotPoseDelta &  init_noise, const RobotPoseDelta &  noise  )

inlineprotectedvirtual

Definition at line 47 of file scan_matcher_test_utils.h.

template<typename MapType>

virtual GridScanMatcher& ScanMatcherTestBase< MapType >::scan_matcher ( )

protectedpure virtual

Implemented in BruteForceScanMatcherSmokeTest, BFMRScanMatcherTestBase< Map >, BFMRScanMatcherTestBase< RescalableMap >, BFMRScanMatcherTestBase< MapType >, and HillClimbingScanMatcherSmokeTest.

template<typename MapType>

void ScanMatcherTestBase< MapType >::test_scan_matcher ( const LaserScannerParams &  lsp, const RobotPoseDelta &  noise, const RobotPoseDelta &  acc_error  )

inlineprotected

Definition at line 57 of file scan_matcher_test_utils.h.

template<typename MapType>

void ScanMatcherTestBase< MapType >::test_scan_matcher ( const RobotPoseDelta &  noise, const RobotPoseDelta &  acc_error  )

inlineprotected

Definition at line 82 of file scan_matcher_test_utils.h.

template<typename MapType>

void ScanMatcherTestBase< MapType >::test_scan_matcher ( const RobotPoseDelta &  noise )

inlineprotected

Definition at line 87 of file scan_matcher_test_utils.h.

Member Data Documentation

template<typename MapType>

constexpr RobotPoseDelta ScanMatcherTestBase< MapType >::Acceptable_Error

staticprotected

Initial value:

= {
    std::numeric_limits<double>::epsilon(),
    std::numeric_limits<double>::epsilon(),
    std::numeric_limits<double>::epsilon()
  }

Definition at line 22 of file scan_matcher_test_utils.h.

template<typename MapType>

LaserScannerParams ScanMatcherTestBase< MapType >::default_lsp

protected

Definition at line 95 of file scan_matcher_test_utils.h.

template<typename MapType>

MapType ScanMatcherTestBase< MapType >::map

protected

Definition at line 92 of file scan_matcher_test_utils.h.

template<typename MapType>

RobotPose ScanMatcherTestBase< MapType >::rpose

protected

Definition at line 93 of file scan_matcher_test_utils.h.

template<typename MapType>

std::shared_ptr<ScanProbabilityEstimator> ScanMatcherTestBase< MapType >::spe

protected

Definition at line 94 of file scan_matcher_test_utils.h.

---

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

• scan_matcher_test_utils.h