Public Types | Public Member Functions | Static Public Attributes | Protected Attributes | List of all members
GMapping::ScanMatcher Class Reference

#include <scanmatcher.h>

Public Types

typedef Covariance3 CovarianceMatrix
 

Public Member Functions

void computeActiveArea (ScanMatcherMap &map, const OrientedPoint &p, const double *readings)
 
double icpOptimize (OrientedPoint &pnew, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
 
double icpStep (OrientedPoint &pret, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
 
void invalidateActiveArea ()
 
const double * laserAngles () const
 
unsigned int laserBeams () const
 
double likelihood (double &lmax, OrientedPoint &mean, CovarianceMatrix &cov, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings)
 
double likelihood (double &_lmax, OrientedPoint &_mean, CovarianceMatrix &_cov, const ScanMatcherMap &map, const OrientedPoint &p, Gaussian3 &odometry, const double *readings, double gain=180.)
 
unsigned int likelihoodAndScore (double &s, double &l, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
 
double optimize (OrientedPoint &pnew, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
 
double optimize (OrientedPoint &mean, CovarianceMatrix &cov, const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
 
double registerScan (ScanMatcherMap &map, const OrientedPoint &p, const double *readings)
 
 ScanMatcher ()
 
double score (const ScanMatcherMap &map, const OrientedPoint &p, const double *readings) const
 
void setLaserParameters (unsigned int beams, double *angles, const OrientedPoint &lpose)
 
void setMatchingParameters (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, double likelihoodSigma=1, unsigned int likelihoodSkip=0)
 
 ~ScanMatcher ()
 

Static Public Attributes

static const double nullLikelihood =-.5
 

Protected Attributes

bool m_activeAreaComputed
 
double m_laserAngles [LASER_MAXBEAMS]
 
unsigned int m_laserBeams
 
IntPointm_linePoints
 

Detailed Description

Definition at line 15 of file scanmatcher.h.

Member Typedef Documentation

◆ CovarianceMatrix

Definition at line 17 of file scanmatcher.h.

Constructor & Destructor Documentation

◆ ScanMatcher()

GMapping::ScanMatcher::ScanMatcher ( )

Definition at line 16 of file scanmatcher.cpp.

◆ ~ScanMatcher()

GMapping::ScanMatcher::~ScanMatcher ( )

Definition at line 53 of file scanmatcher.cpp.

Member Function Documentation

◆ computeActiveArea()

void GMapping::ScanMatcher::computeActiveArea ( ScanMatcherMap map,
const OrientedPoint p,
const double *  readings 
)

Definition at line 116 of file scanmatcher.cpp.

◆ icpOptimize()

double GMapping::ScanMatcher::icpOptimize ( OrientedPoint pnew,
const ScanMatcherMap map,
const OrientedPoint p,
const double *  readings 
) const

Definition at line 319 of file scanmatcher.cpp.

◆ icpStep()

double GMapping::ScanMatcher::icpStep ( OrientedPoint pret,
const ScanMatcherMap map,
const OrientedPoint p,
const double *  readings 
) const
inline

Definition at line 77 of file scanmatcher.h.

◆ invalidateActiveArea()

void GMapping::ScanMatcher::invalidateActiveArea ( )

Definition at line 57 of file scanmatcher.cpp.

◆ laserAngles()

const double* GMapping::ScanMatcher::laserAngles ( ) const
inline

Definition at line 38 of file scanmatcher.h.

◆ laserBeams()

unsigned int GMapping::ScanMatcher::laserBeams ( ) const
inline

Definition at line 39 of file scanmatcher.h.

◆ likelihood() [1/2]

double GMapping::ScanMatcher::likelihood ( double &  lmax,
OrientedPoint mean,
CovarianceMatrix cov,
const ScanMatcherMap map,
const OrientedPoint p,
const double *  readings 
)

Definition at line 572 of file scanmatcher.cpp.

◆ likelihood() [2/2]

double GMapping::ScanMatcher::likelihood ( double &  _lmax,
OrientedPoint _mean,
CovarianceMatrix _cov,
const ScanMatcherMap map,
const OrientedPoint p,
Gaussian3 odometry,
const double *  readings,
double  gain = 180. 
)

Definition at line 639 of file scanmatcher.cpp.

◆ likelihoodAndScore()

unsigned int GMapping::ScanMatcher::likelihoodAndScore ( double &  s,
double &  l,
const ScanMatcherMap map,
const OrientedPoint p,
const double *  readings 
) const
inline

Definition at line 192 of file scanmatcher.h.

◆ optimize() [1/2]

double GMapping::ScanMatcher::optimize ( OrientedPoint pnew,
const ScanMatcherMap map,
const OrientedPoint p,
const double *  readings 
) const

Definition at line 337 of file scanmatcher.cpp.

◆ optimize() [2/2]

double GMapping::ScanMatcher::optimize ( OrientedPoint mean,
ScanMatcher::CovarianceMatrix _cov,
const ScanMatcherMap map,
const OrientedPoint p,
const double *  readings 
) const

Definition at line 430 of file scanmatcher.cpp.

◆ registerScan()

void GMapping::ScanMatcher::registerScan ( ScanMatcherMap map,
const OrientedPoint p,
const double *  readings 
)

Definition at line 215 of file scanmatcher.cpp.

◆ score()

double GMapping::ScanMatcher::score ( const ScanMatcherMap map,
const OrientedPoint p,
const double *  readings 
) const
inline

Definition at line 144 of file scanmatcher.h.

◆ setLaserParameters()

void GMapping::ScanMatcher::setLaserParameters ( unsigned int  beams,
double *  angles,
const OrientedPoint lpose 
)

Definition at line 559 of file scanmatcher.cpp.

◆ setMatchingParameters()

void GMapping::ScanMatcher::setMatchingParameters ( double  urange,
double  range,
double  sigma,
int  kernsize,
double  lopt,
double  aopt,
int  iterations,
double  likelihoodSigma = 1,
unsigned int  likelihoodSkip = 0 
)

Definition at line 712 of file scanmatcher.cpp.

Member Data Documentation

◆ m_activeAreaComputed

bool GMapping::ScanMatcher::m_activeAreaComputed
protected

Definition at line 44 of file scanmatcher.h.

◆ m_laserAngles

double GMapping::ScanMatcher::m_laserAngles[LASER_MAXBEAMS]
protected

Definition at line 48 of file scanmatcher.h.

◆ m_laserBeams

unsigned int GMapping::ScanMatcher::m_laserBeams
protected

laser parameters

Definition at line 47 of file scanmatcher.h.

◆ m_linePoints

IntPoint* GMapping::ScanMatcher::m_linePoints
protected

scan_matcher parameters

Definition at line 74 of file scanmatcher.h.

◆ nullLikelihood

const double GMapping::ScanMatcher::nullLikelihood =-.5
static

Definition at line 41 of file scanmatcher.h.


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


openslam_gmapping
Author(s): Cyrill Stachniss, Udo Frese, Giorgio Grisetti, Wolfram Burgard
autogenerated on Mon Feb 28 2022 22:59:20