TinySlamFascade Class Reference

The TinySLAM access point. SLAM users are supposed to work with it. More...

#include <tiny_fascade.h>

Inheritance diagram for TinySlamFascade:

Public Member Functions
void	add_scan_matcher_observer (ScanMatcherObsPtr obs)
virtual void	handle_laser_scan (TransformedLaserScan &scan)
void	remove_scan_matcher_observer (ScanMatcherObsPtr obs)
void	set_viewer (std::shared_ptr< RvizGridViewer > viewer)
	TinySlamFascade (std::shared_ptr< GridCellStrategy > gcs, const TinyWorldParams &params, const GridMapParams &init_map_params, bool skip_max_vals)
Public Member Functions inherited from LaserScanObserver
virtual void	handle_transformed_msg (const ScanPtr msg, const tf::StampedTransform &t)
	Converts ROS-specific structures that hold sensor data to internal framework's structures; Laser scan filtering is performed as part of the conversion. More...
	LaserScanObserver (bool skip_max_vals=false)
Public Member Functions inherited from TopicObserver< sensor_msgs::LaserScan >
virtual void	handle_transformed_msg (const boost::shared_ptr< sensor_msgs::LaserScan >, const tf::StampedTransform &)=0

Private Types
using	ScanMatcherObsPtr = std::shared_ptr< GridScanMatcherObserver >

Private Attributes
std::shared_ptr< RvizGridViewer >	_viewer
std::unique_ptr< TinyWorld >	_world

Detailed Description

The TinySLAM access point. SLAM users are supposed to work with it.

Responsibilities:
  Handles data came from a scanner and locates a viewer.
  Connects internal frameworks components to a single tinySLAM method (the fascade pattern is applied).

Definition at line 21 of file tiny_fascade.h.

Member Typedef Documentation

using TinySlamFascade::ScanMatcherObsPtr = std::shared_ptr<GridScanMatcherObserver>

private

Definition at line 23 of file tiny_fascade.h.

Constructor & Destructor Documentation

TinySlamFascade::TinySlamFascade ( std::shared_ptr< GridCellStrategy >  gcs, const TinyWorldParams &  params, const GridMapParams &  init_map_params, bool  skip_max_vals  )

inline

Initializes the tinySLAM method.

Parameters

[in]	gcs	- a configuration of cells in a map (a cell strategy).
[in]	params	- the tinySLAM parameters (see TinyWorldParams).
[in]	skip_max_vals	- whether the values that exceed the max one specific to the laser scanner should be skipped.

Definition at line 34 of file tiny_fascade.h.

Member Function Documentation

void TinySlamFascade::add_scan_matcher_observer ( ScanMatcherObsPtr  obs )

inline

Registers a scan matcher observer.

Parameters

[in]

obs

- a new scanner matcher observer.

Definition at line 69 of file tiny_fascade.h.

virtual void TinySlamFascade::handle_laser_scan ( TransformedLaserScan &  scan )

inlinevirtual

Updates the map and the robot pose with scan data.
The update is done according to a prediction-correction approach. (the odometry is used for a prediction, the laser scan - for a correction).

Parameters

[in]

scan

- data from the robot's scanners (odnometry + laser scan).

Implements LaserScanObserver.

Definition at line 55 of file tiny_fascade.h.

void TinySlamFascade::remove_scan_matcher_observer ( ScanMatcherObsPtr  obs )

inline

Unregisters a scan matcher observer.

Parameters

[in]

obs

- the scanner matcher observer to be removed.

Definition at line 77 of file tiny_fascade.h.

void TinySlamFascade::set_viewer ( std::shared_ptr< RvizGridViewer >  viewer )

inline

Sets a viewer component that is notified by a pose and map updates.

Parameters

[in]

viewer

- a new value of the data member viewer.

Definition at line 45 of file tiny_fascade.h.

Member Data Documentation

std::shared_ptr<RvizGridViewer> TinySlamFascade::_viewer

private

Definition at line 84 of file tiny_fascade.h.

std::unique_ptr<TinyWorld> TinySlamFascade::_world

private

Definition at line 83 of file tiny_fascade.h.

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

• tiny_fascade.h