fast_global_localizer.h
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1 /*
2  * Copyright 2016 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
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15  */
16 
17 #ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
18 #define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
19 
20 #include <vector>
21 
22 #include "Eigen/Geometry"
25 
26 namespace cartographer {
27 namespace mapping_2d {
28 namespace scan_matching {
29 
30 // Perform global localization against the provided 'matchers'. The 'cutoff'
31 // specifies the minimum correlation that will be accepted.
32 // This function does not take ownership of the pointers passed in
33 // 'matchers'; they are passed as a vector of raw pointers to give maximum
34 // flexibility to callers.
35 //
36 // Returns true in the case of successful localization. The output parameters
37 // should not be trusted if the function returns false. The 'cutoff' and
38 // 'best_score' are in the range [0.0, 1.0].
40  float cutoff, const cartographer::sensor::AdaptiveVoxelFilter& voxel_filter,
41  const std::vector<
43  matchers,
44  const cartographer::sensor::PointCloud& point_cloud,
45  transform::Rigid2d* best_pose_estimate, float* best_score);
46 
47 } // namespace scan_matching
48 } // namespace mapping_2d
49 } // namespace cartographer
50 
51 #endif // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
bool PerformGlobalLocalization(const float cutoff, const cartographer::sensor::AdaptiveVoxelFilter &voxel_filter, const std::vector< cartographer::mapping_2d::scan_matching::FastCorrelativeScanMatcher * > &matchers, const cartographer::sensor::PointCloud &point_cloud, transform::Rigid2d *const best_pose_estimate, float *const best_score)
Rigid2< double > Rigid2d
std::vector< Eigen::Vector3f > PointCloud
Definition: point_cloud.h:30


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autogenerated on Wed Jun 5 2019 21:57:58