| CBeam | |
| ▼CCellOccupancyEstimator | |
| CAreaOccupancyEstimator | A strategy that estimates a grid cell's occupancy based on how a laser beam passes through the cell |
| CConstOccupancyEstimator | ConstEstimator is responsible for the occupancy estimation strategy that returns probability of being occupied for a cell depending only on the cell status predicted by a sensor |
| CDiscreteLine2D | Defines a line segment on a plane |
| CDiscretePoint2D | Defines a point with integer coordinates on a plane |
| ▼CGridCell | The base class for GridMap's cell that defines a model of occupancy tracking |
| CAvgTinyCell | The grid cell's model updates probabilities as an average value |
| CBaseTinyCell | The grid cell's model presented in the original tinySLAM paper |
| ▼CGridCellFactory | The base class for factories that encapsulate creation of a specific cell (The Factory method pattern is applied) |
| CTinyAvgCellFactory | A strategy creates cells with the average probability calculation rule (AvgTinyCell) |
| CTinyBaseCellFactory | A strategy creates cells of the base tiny model (BaseTinyCell) |
| CGridCellStrategy | A container for strategies specific to a grid cell model |
| CGridMap | An occupancy grid implementation |
| CGridMapParams | |
| ▼CGridScanMatcher | Class that matches scans. Performes a scan adjustment by altering a robot pose in order to maximize the correspondence between a scan and a grid map; the rule of correspondence computation is defined in ScanCostEstimator subclasses |
| ▼CMonteCarloScanMatcher | 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 |
| CTinyScanMatcher | The scan matcher based on the Monte Carlo simulation |
| ▼CGridScanMatcherObserver | Interface of scan matcher observer |
| CPoseScanMatcherObserver | Derived class from GridScanMatcherObserver to publish the robot pose |
| CAreaOccupancyEstimator::Intersection | |
| CMapParams | |
| COccupancy | |
| CAreaOccupancyEstimator::Ray | |
| CRectangle | Defines an axis-aligned rectangle |
| CRobotState | Defines a robot position in cartesian coordinates and an angle of rotation |
| CRvizGridViewer | The class publishes information about robot's map and location in ROS-compatible format so it can be shown by rviz |
| ▼CScanCostEstimator | Interface of Estimator of Scan Cost. Cost - is a number that complies to a scan; the lower cost the better scan |
| CTinyScanCostEstimator | An implementation of the scan cost function described in the original tinySLAM paper |
| CScanPoint | Contains a point in polar coordinates and a state whether it is occupied |
| CTinyWorldParams | A container for the following tinySLAM parameters: TODO: params description |
| CTopicObserver< MType > | The base class which subclasses convert laser scan and odometry data ROS structures to internal data structure |
| ▼CTopicObserver< sensor_msgs::LaserScan > | |
| ▼CLaserScanObserver | Class responsibilities: observes laser scans and odometry; converts ROS structures to internal representation |
| CTinySlamFascade | The TinySLAM access point. SLAM users are supposed to work with it |
| CTopicWithTransform< MsgType > | This class synchronizes the transform and odometry |
| CTransformedLaserScan | Framework internal representation of a laser scan |
| CWorld< ObservationType, MapType > | |
| ▼CWorld< TransformedLaserScan, GridMap > | |
| ▼CLaserScanGridWorld | Tracks a robots perception of an environment. The environment is represented by a GridMap; A laser scan with transformation is expected as a sensor data |
| CTinyWorld | The class implements the tinySLAM-specific map update logic |