An implementation of the scan cost function described in the original tinySLAM paper. More...
#include <tiny_scan_cost_estimator.h>
Public Member Functions | |
virtual double | estimate_scan_cost (const RobotState &pose, const TransformedLaserScan &scan, const GridMap &map, double min_cost) override |
An implementation of the scan cost function described in the original tinySLAM paper.
This class presents one method to calculate a numeric value of a laser scan. This method is defined in the paper.
Definition at line 13 of file tiny_scan_cost_estimator.h.
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inlineoverridevirtual |
Calculates a discrepancy between a given scan and a map using the approach from the tinySLAM paper.
[in] | pose | - the robot pose in the space. |
[in] | scan | - data from the robot's scanner. |
[in] | map | - the environment map built on the previous steps. |
[in] | min_cost | - the minimum found cost of the scan at the moment. |
Implements ScanCostEstimator.
Definition at line 25 of file tiny_scan_cost_estimator.h.