#include <fast_correlative_scan_matcher.h>

Classes
struct	SearchParameters

Public Member Functions
	FastCorrelativeScanMatcher (const HybridGrid &hybrid_grid, const std::vector< mapping::TrajectoryNode > &nodes, const proto::FastCorrelativeScanMatcherOptions &options)

	FastCorrelativeScanMatcher (const FastCorrelativeScanMatcher &)=delete

bool	Match (const transform::Rigid3d &initial_pose_estimate, const sensor::PointCloud &coarse_point_cloud, const sensor::PointCloud &fine_point_cloud, float min_score, float score, transform::Rigid3d pose_estimate) const

bool	MatchFullSubmap (const Eigen::Quaterniond &gravity_alignment, const sensor::PointCloud &coarse_point_cloud, const sensor::PointCloud &fine_point_cloud, float min_score, float score, transform::Rigid3d pose_estimate) const

FastCorrelativeScanMatcher &	operator= (const FastCorrelativeScanMatcher &)=delete

	~FastCorrelativeScanMatcher ()

Private Member Functions
Candidate	BranchAndBound (const SearchParameters &search_parameters, const std::vector< DiscreteScan > &discrete_scans, const std::vector< Candidate > &candidates, int candidate_depth, float min_score) const

std::vector< Candidate >	ComputeLowestResolutionCandidates (const SearchParameters &search_parameters, const std::vector< DiscreteScan > &discrete_scans) const

DiscreteScan	DiscretizeScan (const SearchParameters &search_parameters, const sensor::PointCloud &point_cloud, const transform::Rigid3f &pose) const

std::vector< DiscreteScan >	GenerateDiscreteScans (const SearchParameters &search_parameters, const sensor::PointCloud &coarse_point_cloud, const sensor::PointCloud &fine_point_cloud, const transform::Rigid3f &initial_pose) const

std::vector< Candidate >	GenerateLowestResolutionCandidates (const SearchParameters &search_parameters, int num_discrete_scans) const

bool	MatchWithSearchParameters (const SearchParameters &search_parameters, const transform::Rigid3d &initial_pose_estimate, const sensor::PointCloud &coarse_point_cloud, const sensor::PointCloud &fine_point_cloud, float min_score, float score, transform::Rigid3d pose_estimate) const

void	ScoreCandidates (int depth, const std::vector< DiscreteScan > &discrete_scans, std::vector< Candidate > *const candidates) const

Private Attributes
const proto::FastCorrelativeScanMatcherOptions	options_

std::unique_ptr< PrecomputationGridStack >	precomputation_grid_stack_

const float	resolution_

RotationalScanMatcher	rotational_scan_matcher_

const int	width_in_voxels_

Detailed Description

Definition at line 70 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.h.

Constructor & Destructor Documentation

cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::FastCorrelativeScanMatcher	(	const HybridGrid &	hybrid_grid,
		const std::vector< mapping::TrajectoryNode > &	nodes,
		const proto::FastCorrelativeScanMatcherOptions &	options
	)

Definition at line 92 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.cc.

cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::~FastCorrelativeScanMatcher ( )

Definition at line 103 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.cc.

cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::FastCorrelativeScanMatcher ( const FastCorrelativeScanMatcher & )

delete

Member Function Documentation

Candidate cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::BranchAndBound	(	const SearchParameters &	search_parameters,
		const std::vector< DiscreteScan > &	discrete_scans,
		const std::vector< Candidate > &	candidates,
		int	candidate_depth,
		float	min_score
	)		const

private

Definition at line 332 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.cc.

std::vector< Candidate > cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::ComputeLowestResolutionCandidates	(	const SearchParameters &	search_parameters,
		const std::vector< DiscreteScan > &	discrete_scans
	)		const

private

Definition at line 321 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.cc.

DiscreteScan cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::DiscretizeScan	(	const SearchParameters &	search_parameters,
		const sensor::PointCloud &	point_cloud,
		const transform::Rigid3f &	pose
	)		const

private

Definition at line 172 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.cc.

std::vector< DiscreteScan > cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::GenerateDiscreteScans	(	const SearchParameters &	search_parameters,
		const sensor::PointCloud &	coarse_point_cloud,
		const sensor::PointCloud &	fine_point_cloud,
		const transform::Rigid3f &	initial_pose
	)		const

private

Definition at line 216 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.cc.

std::vector< Candidate > cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::GenerateLowestResolutionCandidates	(	const SearchParameters &	search_parameters,
		int	num_discrete_scans
	)		const

private

Definition at line 262 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.cc.

bool cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::Match	(	const transform::Rigid3d &	initial_pose_estimate,
		const sensor::PointCloud &	coarse_point_cloud,
		const sensor::PointCloud &	fine_point_cloud,
		float	min_score,
		float *	score,
		transform::Rigid3d *	pose_estimate
	)		const

Definition at line 105 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.cc.

bool cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::MatchFullSubmap	(	const Eigen::Quaterniond &	gravity_alignment,
		const sensor::PointCloud &	coarse_point_cloud,
		const sensor::PointCloud &	fine_point_cloud,
		float	min_score,
		float *	score,
		transform::Rigid3d *	pose_estimate
	)		const

Definition at line 119 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.cc.

bool cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::MatchWithSearchParameters	(	const SearchParameters &	search_parameters,
		const transform::Rigid3d &	initial_pose_estimate,
		const sensor::PointCloud &	coarse_point_cloud,
		const sensor::PointCloud &	fine_point_cloud,
		float	min_score,
		float *	score,
		transform::Rigid3d *	pose_estimate
	)		const

private

Definition at line 140 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.cc.

FastCorrelativeScanMatcher& cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::operator= ( const FastCorrelativeScanMatcher & )

delete

void cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::ScoreCandidates	(	int	depth,
		const std::vector< DiscreteScan > &	discrete_scans,
		std::vector< Candidate > *const	candidates
	)		const

private

Definition at line 296 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.cc.

Member Data Documentation

const proto::FastCorrelativeScanMatcherOptions cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::options_

private

Definition at line 137 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.h.

std::unique_ptr<PrecomputationGridStack> cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::precomputation_grid_stack_

private

Definition at line 140 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.h.

const float cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::resolution_

private

Definition at line 138 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.h.

RotationalScanMatcher cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::rotational_scan_matcher_

private

Definition at line 141 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.h.

const int cartographer::mapping_3d::scan_matching::FastCorrelativeScanMatcher::width_in_voxels_

private

Definition at line 139 of file mapping_3d/scan_matching/fast_correlative_scan_matcher.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation