karto::GridIndexLookup< T > Class Template Reference

#include <Karto.h>

Public Member Functions
void	ComputeOffsets (LocalizedRangeScan *pScan, kt_double angleCenter, kt_double angleOffset, kt_double angleResolution)
const std::vector< kt_double > &	GetAngles () const
const LookupArray *	GetLookupArray (kt_int32u index) const
	GridIndexLookup (Grid< T > *pGrid)
virtual	~GridIndexLookup ()

Private Member Functions
void	ComputeOffsets (kt_int32u angleIndex, kt_double angle, const Pose2Vector &rLocalPoints, LocalizedRangeScan *pScan)
void	DestroyArrays ()
void	SetSize (kt_int32u size)

Private Attributes
std::vector< kt_double >	m_Angles
kt_int32u	m_Capacity
Grid< T > *	m_pGrid
LookupArray **	m_ppLookupArray
kt_int32u	m_Size

Detailed Description

template<typename T>
class karto::GridIndexLookup< T >

Create lookup tables for point readings at varying angles in grid. For each angle, grid indexes are calculated for each range reading. This is to speed up finding best angle/position for a localized range scan

Used heavily in mapper and localizer.

In the localizer, this is a huge speed up for calculating possible position. For each particle, a probability is calculated. The range scan is the same, but all grid indexes at all possible angles are calculated. So when calculating the particle probability at a specific angle, the index table is used to look up probability in probability grid!

Definition at line 6348 of file Karto.h.

Constructor & Destructor Documentation

template<typename T>

karto::GridIndexLookup< T >::GridIndexLookup ( Grid< T > *  pGrid )

inline

Construct a GridIndexLookup with a grid

Parameters

pGrid

Definition at line 6355 of file Karto.h.

template<typename T>

virtual karto::GridIndexLookup< T >::~GridIndexLookup ( )

inlinevirtual

Destructor

Definition at line 6366 of file Karto.h.

Member Function Documentation

template<typename T>

void karto::GridIndexLookup< T >::ComputeOffsets ( LocalizedRangeScan *  pScan, kt_double  angleCenter, kt_double  angleOffset, kt_double  angleResolution  )

inline

Compute lookup table of the points of the given scan for the given angular space

Parameters

pScan	the scan
angleCenter
angleOffset	computes lookup arrays for the angles within this offset around angleStart
angleResolution	how fine a granularity to compute lookup arrays in the angular space

Definition at line 6400 of file Karto.h.

template<typename T>

void karto::GridIndexLookup< T >::ComputeOffsets ( kt_int32u  angleIndex, kt_double  angle, const Pose2Vector &  rLocalPoints, LocalizedRangeScan *  pScan  )

inlineprivate

Compute lookup value of points for given angle

Parameters

angleIndex
angle
rLocalPoints

Definition at line 6446 of file Karto.h.

template<typename T>

void karto::GridIndexLookup< T >::DestroyArrays ( )

inlineprivate

Delete the arrays

Definition at line 6526 of file Karto.h.

template<typename T>

const std::vector<kt_double>& karto::GridIndexLookup< T >::GetAngles ( ) const

inline

Get angles

Returns

std::vector<kt_double>& angles

Definition at line 6388 of file Karto.h.

template<typename T>

const LookupArray* karto::GridIndexLookup< T >::GetLookupArray ( kt_int32u  index ) const

inline

Gets the lookup array for a particular angle index

Parameters

index

Returns

lookup array

Definition at line 6377 of file Karto.h.

template<typename T>

void karto::GridIndexLookup< T >::SetSize ( kt_int32u  size )

inlineprivate

Sets size of lookup table (resize if not big enough)

Parameters

size

Definition at line 6499 of file Karto.h.

Member Data Documentation

template<typename T>

std::vector<kt_double> karto::GridIndexLookup< T >::m_Angles

private

Definition at line 6546 of file Karto.h.

template<typename T>

kt_int32u karto::GridIndexLookup< T >::m_Capacity

private

Definition at line 6540 of file Karto.h.

template<typename T>

Grid<T>* karto::GridIndexLookup< T >::m_pGrid

private

Definition at line 6538 of file Karto.h.

template<typename T>

LookupArray** karto::GridIndexLookup< T >::m_ppLookupArray

private

Definition at line 6543 of file Karto.h.

template<typename T>

kt_int32u karto::GridIndexLookup< T >::m_Size

private

Definition at line 6541 of file Karto.h.

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

• Karto.h