TinyScanMatcher Class Reference

The scan matcher based on the Monte Carlo simulation. More...

#include <tiny_scan_matcher.h>

Inheritance diagram for TinyScanMatcher:

Public Member Functions
virtual void	reset_state () override
	TinyScanMatcher (ScePtr cost_estimator, unsigned bad_iter, unsigned max_iter, double sigma_coord, double sigma_angle)
Public Member Functions inherited from MonteCarloScanMatcher
	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)
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) override
virtual void	sample_pose (RobotState &base_pose) override
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 Types
using	ScePtr = std::shared_ptr< ScanCostEstimator >

Private Attributes
double	_curr_sigma_angle
double	_curr_sigma_coord
double	_sigma_angle
double	_sigma_coord

Additional Inherited Members
Public Types inherited from MonteCarloScanMatcher
using	ObsPtr = std::shared_ptr< GridScanMatcherObserver >

Detailed Description

The scan matcher based on the Monte Carlo simulation.

The robot pose is updated by shifting it on a random vector and rotation by a random angle. The vector distribution is dynamically adjusted.

Definition at line 15 of file tiny_scan_matcher.h.

Member Typedef Documentation

using TinyScanMatcher::ScePtr = std::shared_ptr<ScanCostEstimator>

private

Definition at line 17 of file tiny_scan_matcher.h.

Constructor & Destructor Documentation

TinyScanMatcher::TinyScanMatcher ( ScePtr  cost_estimator, unsigned  bad_iter, unsigned  max_iter, double  sigma_coord, double  sigma_angle  )

inline

Initializes the scan matcher.

Parameters

[in]	cost_estimator	- the type of estimator for the robot location.
[in]	bad_iter,max_iter	- see failed_iter, max_iter in MonteCarloScanMatcher
[in]	sigma_coord,sigma_angle	- the value of a normal distribution for the random variables. ( , and ).

Definition at line 28 of file tiny_scan_matcher.h.

Member Function Documentation

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

inlineoverrideprotectedvirtual

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.

Implements MonteCarloScanMatcher.

Definition at line 54 of file tiny_scan_matcher.h.

virtual void TinyScanMatcher::reset_state ( )

inlineoverridevirtual

Resets the scan matcher to the state it had right after the initialization.

Reimplemented from GridScanMatcher.

Definition at line 37 of file tiny_scan_matcher.h.

virtual void TinyScanMatcher::sample_pose ( RobotState &  base_pose )

inlineoverrideprotectedvirtual

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

Parameters

base_pose

A basical pose of a robot.

Implements MonteCarloScanMatcher.

Definition at line 43 of file tiny_scan_matcher.h.

Member Data Documentation

double TinyScanMatcher::_curr_sigma_angle

private

Definition at line 67 of file tiny_scan_matcher.h.

double TinyScanMatcher::_curr_sigma_coord

private

Definition at line 67 of file tiny_scan_matcher.h.

double TinyScanMatcher::_sigma_angle

private

Definition at line 66 of file tiny_scan_matcher.h.

double TinyScanMatcher::_sigma_coord

private

Definition at line 66 of file tiny_scan_matcher.h.

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

• tiny_scan_matcher.h