init_vinyx_slam.h
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1 #ifndef SLAM_CTOR_SLAMS_VINY_SLAM_H
2 #define SLAM_CTOR_SLAMS_VINY_SLAM_H
3 
4 #include <memory>
5 
6 #include "../../utils/init_scan_matching.h"
7 #include "../../utils/init_occupancy_mapping.h"
8 
9 #include "../../core/maps/plain_grid_map.h"
10 #include "../../core/states/single_state_hypothesis_laser_scan_grid_world.h"
11 
12 #include "vinyx_world.h"
13 
14 auto init_vinyx_slam(const PropertiesProvider &props) {
15  auto slam_props = SingleStateHypothesisLSGWProperties{};
16  // FIXME: move to params, init_viny_slam.h code duplication
17  slam_props.localized_scan_quality = 0.9;
18  slam_props.raw_scan_quality = 0.6;
19  slam_props.cell_prototype = std::make_shared<VinyXDSCell>();
20 
21  slam_props.gsm = init_scan_matcher(props);
22  slam_props.gmsa = init_scan_adder(props);
23  slam_props.map_props = init_grid_map_params(props);
24  return std::make_shared<VinyXWorld>(slam_props);
25 }
26 
27 #endif
auto init_scan_adder(const PropertiesProvider &props)
auto init_grid_map_params(const PropertiesProvider &props)
auto init_scan_matcher(const PropertiesProvider &props)
auto init_vinyx_slam(const PropertiesProvider &props)


slam_constructor
Author(s): JetBrains Research, OSLL team
autogenerated on Mon Jun 10 2019 15:08:25