tuw::SLAM Class Reference

#include <tuw_marker_slam.h>

Inheritance diagram for tuw::SLAM:

Public Member Functions
	SLAM ()

Protected Member Functions
void	cycle ()
	global parameters More...

Protected Attributes
cv::Mat_< double >	C_Yt_
	combined state yt = (xt, mt_1, ..., mt_n) with xt = (x, y, alpha), mt_i = (x_i, y_i, alpha_i) More...
tuw_marker_slam::SLAMConfig	config_
	technique used to estimate landmark map and the vehicles pose in it More...
unsigned long	loop_count_
	measurements at time t More...
SLAMTechniquePtr	slam_technique_
	counter for the triggered cycles More...
Command	ut_
	combined covariance matrix of combined state More...
std::vector< Pose2D >	yt_
	constructor More...
MeasurementPtr	zt_
	motion commands v, w at time t More...

Detailed Description

Class for SLAM (independent of used technique)

Definition at line 14 of file tuw_marker_slam.h.

Constructor & Destructor Documentation

SLAM::SLAM

(

)

Definition at line 5 of file tuw_marker_slam.cpp.

Member Function Documentation

void SLAM::cycle ( )

protected

global parameters

Definition at line 9 of file tuw_marker_slam.cpp.

Member Data Documentation

cv::Mat_<double> tuw::SLAM::C_Yt_

protected

combined state yt = (xt, mt_1, ..., mt_n) with xt = (x, y, alpha), mt_i = (x_i, y_i, alpha_i)

Definition at line 20 of file tuw_marker_slam.h.

tuw_marker_slam::SLAMConfig tuw::SLAM::config_

protected

technique used to estimate landmark map and the vehicles pose in it

Definition at line 27 of file tuw_marker_slam.h.

unsigned long tuw::SLAM::loop_count_

protected

measurements at time t

Definition at line 24 of file tuw_marker_slam.h.

SLAMTechniquePtr tuw::SLAM::slam_technique_

protected

counter for the triggered cycles

Definition at line 25 of file tuw_marker_slam.h.

Command tuw::SLAM::ut_

protected

combined covariance matrix of combined state

Definition at line 21 of file tuw_marker_slam.h.

std::vector<Pose2D> tuw::SLAM::yt_

protected

constructor

Definition at line 19 of file tuw_marker_slam.h.

MeasurementPtr tuw::SLAM::zt_

protected

motion commands v, w at time t

Definition at line 22 of file tuw_marker_slam.h.

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

• tuw_marker_slam.h
• tuw_marker_slam.cpp