TinyWorld Class Reference

The class implements the tinySLAM-specific map update logic. More...

#include <tiny_world.h>

Inheritance diagram for TinyWorld:

Public Types
using	Point = DiscretePoint2D
Public Types inherited from LaserScanGridWorld
using	MapType = GridMap
using	Point = DiscretePoint2D

Public Member Functions
virtual void	handle_observation (TransformedLaserScan &scan) override
virtual void	handle_scan_point (GridMap &map, double laser_x, double laser_y, double beam_end_x, double beam_end_y, bool is_occ, double quality) override
std::shared_ptr< GridScanMatcher >	scan_matcher ()
	TinyWorld (std::shared_ptr< GridCellStrategy > gcs, const TinyWorldParams &params, const GridMapParams &init_map_params)
Public Member Functions inherited from LaserScanGridWorld
	LaserScanGridWorld (std::shared_ptr< GridCellStrategy > gcs, const GridMapParams &init_params)
virtual const MapType &	map () const
	Returns the map. More...
virtual MapType &	map ()
Public Member Functions inherited from World< TransformedLaserScan, GridMap >
virtual const RobotState &	pose () const
	Returns the robot pose. More...
virtual void	update_robot_pose (double x, double y, double theta)
virtual const World< TransformedLaserScan, GridMap > &	world () const
	Returns this world. More...

Private Attributes
std::shared_ptr< GridCellStrategy >	_gcs
const TinyWorldParams	_params
std::shared_ptr< TinyScanMatcher >	_scan_matcher

Detailed Description

The class implements the tinySLAM-specific map update logic.

There is an robot state correction based on used scan matcher rules and the map update based on the algorithm from the paper with a wall blur.

Definition at line 40 of file tiny_world.h.

Member Typedef Documentation

using TinyWorld::Point = DiscretePoint2D

Definition at line 42 of file tiny_world.h.

Constructor & Destructor Documentation

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

inline

Initializes the world to produce tiny SLAM.

Parameters

[in]	gcs	- a shared pointer to a cell-specific strategy.
[in]	params	- the initial values for tinySLAM (see TinyWorldParams).

Definition at line 50 of file tiny_world.h.

Member Function Documentation

virtual void TinyWorld::handle_observation ( TransformedLaserScan &  scan )

inlineoverridevirtual

Updates the robot pose and the map by a prediction-correction scheme.
Updates the map depends on whether the robot pose have been changed during a correction step.

Parameters

[in]

scan

- data from a laser scanner.

Reimplemented from LaserScanGridWorld.

Definition at line 64 of file tiny_world.h.

virtual void TinyWorld::handle_scan_point ( GridMap &  map, double  laser_x, double  laser_y, double  beam_end_x, double  beam_end_y, bool  is_occ, double  quality  )

inlineoverridevirtual

Updates the map with a given laser scan point.
Estimates the occupancy of the cell with an obstacle (beam_end_x, beam_end_y).
And after that there is a "wall blur".

Parameters

[in]	map	- the map of the environment.
[in]	laser_x,laser_y	- the beginning coordinates of the laser ray.
[in]	beam_end_x,beam_end_y	- the ending coordinates of the laser ray
[in]	is_occ	- the parameter which shows whether this cell is occupied or not.
[in]	quality	- the quality of the laser scanner.

Reimplemented from LaserScanGridWorld.

Definition at line 88 of file tiny_world.h.

std::shared_ptr<GridScanMatcher> TinyWorld::scan_matcher ( )

inline

Returns a pointer to the scan matcher used for the robot pose correction.

Definition at line 123 of file tiny_world.h.

Member Data Documentation

std::shared_ptr<GridCellStrategy> TinyWorld::_gcs

private

Definition at line 127 of file tiny_world.h.

const TinyWorldParams TinyWorld::_params

private

Definition at line 128 of file tiny_world.h.

std::shared_ptr<TinyScanMatcher> TinyWorld::_scan_matcher

private

Definition at line 129 of file tiny_world.h.

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

• tiny_world.h