Scan Matcher based on the Monte Carlo method. The focus of the scan matcher is to compare a scan and a built map; in this class the method of scan comparison is performed by comparing corresponding scan costs. More...

#include <monte_carlo_scan_matcher.h>

Inheritance diagram for MonteCarloScanMatcher:

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Public Types
using	ObsPtr = std::shared_ptr< GridScanMatcherObserver >

Public Member Functions
	MonteCarloScanMatcher (std::shared_ptr< ScanCostEstimator > estimator, unsigned failed_iter, unsigned max_iter)
	Initializes the scan matcher with a certain scan cost estimator. More...

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

Public Member Functions inherited from GridScanMatcher
	GridScanMatcher (std::shared_ptr< ScanCostEstimator > estimator)

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
virtual unsigned	on_estimate_update (unsigned sample_num, unsigned sample_limit)=0

virtual void	sample_pose (RobotState &base_pose)=0

Protected Member Functions inherited from GridScanMatcher
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 Member Functions
void	do_for_each_observer (std::function< void(ObsPtr)> op)

Private Attributes
unsigned	_failed_tries_limit

unsigned	_total_tries_limit

Detailed Description

Scan Matcher based on the Monte Carlo method. The focus of the scan matcher is to compare a scan and a built map; in this class the method of scan comparison is performed by comparing corresponding scan costs.

Definition at line 30 of file monte_carlo_scan_matcher.h.

Member Typedef Documentation

using MonteCarloScanMatcher::ObsPtr = std::shared_ptr<GridScanMatcherObserver>

Definition at line 32 of file monte_carlo_scan_matcher.h.

Constructor & Destructor Documentation

MonteCarloScanMatcher::MonteCarloScanMatcher	(	std::shared_ptr< ScanCostEstimator >	estimator,
		unsigned	failed_iter,
		unsigned	max_iter
	)

inline

Initializes the scan matcher with a certain scan cost estimator.

Parameters

estimator	An estimator of Scan Cost.
failed_iter	A limit of generated samples that have a higher cost comparing with the best estimated pose.
max_iter	A maximum number of hypothesis to be tested.

Definition at line 42 of file monte_carlo_scan_matcher.h.

Member Function Documentation

void MonteCarloScanMatcher::do_for_each_observer ( std::function< void(ObsPtr)> op )

inlineprivate

Definition at line 129 of file monte_carlo_scan_matcher.h.

virtual unsigned MonteCarloScanMatcher::on_estimate_update	(	unsigned	sample_num,
		unsigned	sample_limit
	)

protectedpure virtual

A callback invoked when a better estimate is found.

Parameters

sample_num	Amount of tries that were complited.
sample_limit	Totla amount of tries allowed.

Implemented in TinyScanMatcher.

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

inlineoverridevirtual

Estimates the most probable position according to a given scan; the greater this probability, the lower cost of the scan.

Parameters

init_pose	The first approxiamtion of pose.
scan	A current scan.
map	A current GridMap.
pose_delta	An output parameter of the best pose_delta.

Returns: The lowest scan cost that corresponds to output pose_delta.

Implements GridScanMatcher.

Definition at line 56 of file monte_carlo_scan_matcher.h.

virtual void MonteCarloScanMatcher::sample_pose ( RobotState & base_pose )

protectedpure virtual

Generates the pose of a robot in a vicinity of a base pose.

Parameters

base_pose A basical pose of a robot.

Implemented in TinyScanMatcher.

Member Data Documentation

unsigned MonteCarloScanMatcher::_failed_tries_limit

private

Definition at line 138 of file monte_carlo_scan_matcher.h.

unsigned MonteCarloScanMatcher::_total_tries_limit

private

Definition at line 139 of file monte_carlo_scan_matcher.h.

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

monte_carlo_scan_matcher.h

Public Types

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation