hectorslam::HectorSlamProcessor Class Reference

#include <HectorSlamProcessor.h>

Public Member Functions
void	addMapMutex (int i, MapLockerInterface *mapMutex)
const GridMap &	getGridMap (int mapLevel=0) const
const Eigen::Matrix3f &	getLastScanMatchCovariance () const
const Eigen::Vector3f &	getLastScanMatchPose () const
int	getMapLevels () const
MapLockerInterface *	getMapMutex (int i)
float	getScaleToMap () const
	HectorSlamProcessor (float mapResolution, int mapSizeX, int mapSizeY, const Eigen::Vector2f &startCoords, int multi_res_size, DrawInterface *drawInterfaceIn=0, HectorDebugInfoInterface *debugInterfaceIn=0)
void	reset ()
void	setMapUpdateMinAngleDiff (float angleChange)
void	setMapUpdateMinDistDiff (float minDist)
void	setUpdateFactorFree (float free_factor)
void	setUpdateFactorOccupied (float occupied_factor)
void	update (const DataContainer &dataContainer, const Eigen::Vector3f &poseHintWorld, bool map_without_matching=false)
	~HectorSlamProcessor ()

Protected Attributes
HectorDebugInfoInterface *	debugInterface
DrawInterface *	drawInterface
Eigen::Vector3f	lastMapUpdatePose
Eigen::Matrix3f	lastScanMatchCov
Eigen::Vector3f	lastScanMatchPose
MapRepresentationInterface *	mapRep
float	paramMinAngleDiffForMapUpdate
float	paramMinDistanceDiffForMapUpdate

Detailed Description

Definition at line 50 of file HectorSlamProcessor.h.

Constructor & Destructor Documentation

HectorSlamProcessor()

hectorslam::HectorSlamProcessor::HectorSlamProcessor ( float  mapResolution, int  mapSizeX, int  mapSizeY, const Eigen::Vector2f &  startCoords, int  multi_res_size, DrawInterface *  drawInterfaceIn = 0, HectorDebugInfoInterface *  debugInterfaceIn = 0  )

inline

Definition at line 54 of file HectorSlamProcessor.h.

~HectorSlamProcessor()

hectorslam::HectorSlamProcessor::~HectorSlamProcessor ( )

inline

Definition at line 66 of file HectorSlamProcessor.h.

Member Function Documentation

addMapMutex()

void hectorslam::HectorSlamProcessor::addMapMutex ( int  i, MapLockerInterface *  mapMutex  )

inline

Definition at line 133 of file HectorSlamProcessor.h.

getGridMap()

const GridMap& hectorslam::HectorSlamProcessor::getGridMap ( int  mapLevel = 0 ) const

inline

Definition at line 131 of file HectorSlamProcessor.h.

getLastScanMatchCovariance()

const Eigen::Matrix3f& hectorslam::HectorSlamProcessor::getLastScanMatchCovariance ( ) const

inline

Definition at line 127 of file HectorSlamProcessor.h.

getLastScanMatchPose()

const Eigen::Vector3f& hectorslam::HectorSlamProcessor::getLastScanMatchPose ( ) const

inline

Definition at line 126 of file HectorSlamProcessor.h.

getMapLevels()

int hectorslam::HectorSlamProcessor::getMapLevels ( ) const

inline

Definition at line 130 of file HectorSlamProcessor.h.

getMapMutex()

MapLockerInterface* hectorslam::HectorSlamProcessor::getMapMutex ( int  i )

inline

Definition at line 134 of file HectorSlamProcessor.h.

getScaleToMap()

float hectorslam::HectorSlamProcessor::getScaleToMap ( ) const

inline

Definition at line 128 of file HectorSlamProcessor.h.

reset()

void hectorslam::HectorSlamProcessor::reset ( )

inline

Definition at line 115 of file HectorSlamProcessor.h.

setMapUpdateMinAngleDiff()

void hectorslam::HectorSlamProcessor::setMapUpdateMinAngleDiff ( float  angleChange )

inline

Definition at line 139 of file HectorSlamProcessor.h.

setMapUpdateMinDistDiff()

void hectorslam::HectorSlamProcessor::setMapUpdateMinDistDiff ( float  minDist )

inline

Definition at line 138 of file HectorSlamProcessor.h.

setUpdateFactorFree()

void hectorslam::HectorSlamProcessor::setUpdateFactorFree ( float  free_factor )

inline

Definition at line 136 of file HectorSlamProcessor.h.

setUpdateFactorOccupied()

void hectorslam::HectorSlamProcessor::setUpdateFactorOccupied ( float  occupied_factor )

inline

Definition at line 137 of file HectorSlamProcessor.h.

update()

void hectorslam::HectorSlamProcessor::update ( const DataContainer &  dataContainer, const Eigen::Vector3f &  poseHintWorld, bool  map_without_matching = false  )

inline

Definition at line 71 of file HectorSlamProcessor.h.

Member Data Documentation

debugInterface

HectorDebugInfoInterface* hectorslam::HectorSlamProcessor::debugInterface

protected

Definition at line 153 of file HectorSlamProcessor.h.

drawInterface

DrawInterface* hectorslam::HectorSlamProcessor::drawInterface

protected

Definition at line 152 of file HectorSlamProcessor.h.

lastMapUpdatePose

Eigen::Vector3f hectorslam::HectorSlamProcessor::lastMapUpdatePose

protected

Definition at line 145 of file HectorSlamProcessor.h.

lastScanMatchCov

Eigen::Matrix3f hectorslam::HectorSlamProcessor::lastScanMatchCov

protected

Definition at line 147 of file HectorSlamProcessor.h.

lastScanMatchPose

Eigen::Vector3f hectorslam::HectorSlamProcessor::lastScanMatchPose

protected

Definition at line 146 of file HectorSlamProcessor.h.

mapRep

MapRepresentationInterface* hectorslam::HectorSlamProcessor::mapRep

protected

Definition at line 139 of file HectorSlamProcessor.h.

paramMinAngleDiffForMapUpdate

float hectorslam::HectorSlamProcessor::paramMinAngleDiffForMapUpdate

protected

Definition at line 150 of file HectorSlamProcessor.h.

paramMinDistanceDiffForMapUpdate

float hectorslam::HectorSlamProcessor::paramMinDistanceDiffForMapUpdate

protected

Definition at line 149 of file HectorSlamProcessor.h.

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

• HectorSlamProcessor.h