Classes
class	AbstractParameter

class	BoundingBox2

class	BreadthFirstTraversal

class	CellUpdater

class	CoordinateConverter

class	CorrelationGrid

class	CustomData

class	Dataset

class	DatasetInfo

class	Drive

class	DrivePose

class	Edge

class	EdgeLabel

class	Exception

class	Functor

class	Graph

class	GraphTraversal

class	Grid

class	GridIndexLookup

class	LaserRangeFinder

class	LaserRangeScan

class	LinkInfo

class	LocalizedRangeScan

class	LocalizedRangeScanWithPoints

class	LookupArray

class	Mapper

class	MapperDebugListener

class	MapperGraph

class	MapperListener

class	MapperLoopClosureListener

class	MapperSensorManager

class	Matrix

class	Matrix3

class	Module

class	Name

class	NearScanVisitor

class	NonCopyable

class	Object

class	OccupancyGrid

class	Parameter

class	ParameterEnum

class	ParameterManager

class	Parameters

class	Pose2

class	Pose3

class	Quaternion

class	Rectangle2

class	ScanManager

class	ScanMatcher

class	ScanSolver

class	Sensor

class	SensorData

class	SensorManager

class	Singleton

class	Size2

class	Transform

class	Vector2

class	Vector3

class	Vertex

class	Visitor

Typedefs
typedef std::vector< CustomData * >	CustomDataVector

typedef std::vector< LocalizedRangeScan * >	LocalizedRangeScanVector

typedef std::vector< Object * >	ObjectVector

typedef std::vector< AbstractParameter * >	ParameterVector

typedef std::vector< Vector2< kt_double > >	PointVectorDouble

typedef std::vector< Pose2 >	Pose2Vector

typedef std::vector< kt_double >	RangeReadingsVector

typedef std::map< Name, Sensor * >	SensorManagerMap

typedef std::vector< Sensor * >	SensorVector

Enumerations
enum	GridStates { GridStates_Unknown = 0, GridStates_Occupied = 100, GridStates_Free = 255 }

enum	LaserRangeFinderType { LaserRangeFinder_Custom = 0, LaserRangeFinder_Sick_LMS100 = 1, LaserRangeFinder_Sick_LMS200 = 2, LaserRangeFinder_Sick_LMS291 = 3, LaserRangeFinder_Hokuyo_UTM_30LX = 4, LaserRangeFinder_Hokuyo_URG_04LX = 5 }

Functions
kt_bool	IsDatasetInfo (Object *pObject)

kt_bool	IsLaserRangeFinder (Object *pObject)

kt_bool	IsLocalizedRangeScan (Object *pObject)

kt_bool	IsLocalizedRangeScanWithPoints (Object *pObject)

kt_bool	IsParameters (Object *pObject)

kt_bool	IsSensor (Object *pObject)

kt_bool	IsSensorData (Object *pObject)

std::ostream &	operator<< (std::ostream &rStream, Exception &rException)

Variables
const kt_int32s	INVALID_SCAN = std::numeric_limits<kt_int32s>::max()

const kt_double	KT_180_PI = 57.29577951308232087685

const kt_double	KT_2PI = 6.28318530717958647692

const kt_double	KT_PI = 3.14159265358979323846

const kt_double	KT_PI_180 = 0.01745329251994329577

const kt_double	KT_PI_2 = 1.57079632679489661923

const kt_double	KT_TOLERANCE = 1e-06

Function Documentation

Write exception to output stream

Parameters

rStream	output stream
rException	exception to write

Definition at line 129 of file Karto.cpp.

Variable Documentation

const kt_int32s karto::INVALID_SCAN = std::numeric_limits<kt_int32s>::max()

Lets define max value of kt_int32s (int32_t) to use it to mark invalid scans

Definition at line 47 of file Math.h.

const kt_double karto::KT_180_PI = 57.29577951308232087685

Definition at line 36 of file Math.h.

const kt_double karto::KT_2PI = 6.28318530717958647692

Definition at line 33 of file Math.h.

const kt_double karto::KT_PI = 3.14159265358979323846

Platform independent pi definitions

Definition at line 32 of file Math.h.

const kt_double karto::KT_PI_180 = 0.01745329251994329577

Definition at line 35 of file Math.h.

const kt_double karto::KT_PI_2 = 1.57079632679489661923

Definition at line 34 of file Math.h.

const kt_double karto::KT_TOLERANCE = 1e-06

Lets define a small number!

Definition at line 41 of file Math.h.