GridScanMatcher Class Reference

Class that matches scans. Performes a scan adjustment by altering a robot pose in order to maximize the correspondence between a scan and a grid map; the rule of correspondence computation is defined in ScanCostEstimator subclasses. More...

#include <grid_scan_matcher.h>

Inheritance diagram for GridScanMatcher:

Public Member Functions
	GridScanMatcher (std::shared_ptr< ScanCostEstimator > estimator)
virtual double	process_scan (const RobotState &init_pose, const TransformedLaserScan &scan, const GridMap &map, RobotState &pose_delta)=0
virtual void	reset_state ()
	Invoked to reset the scan matcher's state. More...
void	subscribe (std::shared_ptr< GridScanMatcherObserver > obs)
void	unsubscribe (std::shared_ptr< GridScanMatcherObserver > obs)

Protected Member Functions
std::shared_ptr< ScanCostEstimator >	cost_estimator ()
	Returns a pointer to the cost estimator. More...
std::vector< std::weak_ptr< GridScanMatcherObserver > > &	observers ()
	Returns a reference to the vector of pointers on observers. More...

Private Attributes
std::shared_ptr< ScanCostEstimator >	_cost_estimator
std::vector< std::weak_ptr< GridScanMatcherObserver > >	_observers

Detailed Description

Class that matches scans. Performes a scan adjustment by altering a robot pose in order to maximize the correspondence between a scan and a grid map; the rule of correspondence computation is defined in ScanCostEstimator subclasses.

Definition at line 84 of file grid_scan_matcher.h.

Constructor & Destructor Documentation

GridScanMatcher::GridScanMatcher ( std::shared_ptr< ScanCostEstimator >  estimator )

inline

Definition at line 86 of file grid_scan_matcher.h.

Member Function Documentation

std::shared_ptr<ScanCostEstimator> GridScanMatcher::cost_estimator ( )

inlineprotected

Returns a pointer to the cost estimator.

Definition at line 131 of file grid_scan_matcher.h.

std::vector<std::weak_ptr<GridScanMatcherObserver> >& GridScanMatcher::observers ( )

inlineprotected

Returns a reference to the vector of pointers on observers.

Definition at line 136 of file grid_scan_matcher.h.

virtual double GridScanMatcher::process_scan ( const RobotState &  init_pose, const TransformedLaserScan &  scan, const GridMap &  map, RobotState &  pose_delta  )

pure virtual

A callback invoked on scan processing.

Parameters

init_pose	A pose of a robot.
scan	A laser scan with a transformation.
map	A grid map that is used by the matcher.
pose_delta	The difference between the real robot pose and its estimation.

Implemented in MonteCarloScanMatcher.

virtual void GridScanMatcher::reset_state ( )

inlinevirtual

Invoked to reset the scan matcher's state.

Reimplemented in TinyScanMatcher.

Definition at line 103 of file grid_scan_matcher.h.

void GridScanMatcher::subscribe ( std::shared_ptr< GridScanMatcherObserver >  obs )

inline

Adds an observer.

Parameters

obs	A shared pointer to an observer to be added.

Definition at line 109 of file grid_scan_matcher.h.

void GridScanMatcher::unsubscribe ( std::shared_ptr< GridScanMatcherObserver >  obs )

inline

Removes an observer.

Parameters

obs	A shared pointer to an observer to be removed

Definition at line 117 of file grid_scan_matcher.h.

Member Data Documentation

std::shared_ptr<ScanCostEstimator> GridScanMatcher::_cost_estimator

private

Definition at line 141 of file grid_scan_matcher.h.

std::vector<std::weak_ptr<GridScanMatcherObserver> > GridScanMatcher::_observers

private

Definition at line 140 of file grid_scan_matcher.h.

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

• grid_scan_matcher.h