#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

IntPoint *	m_linePoints

Detailed Description

Definition at line 15 of file scanmatcher.h.

Member Typedef Documentation

◆ CovarianceMatrix

typedef Covariance3 GMapping::ScanMatcher::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:

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ CovarianceMatrix

Constructor & Destructor Documentation

◆ ScanMatcher()

◆ ~ScanMatcher()

Member Function Documentation

◆ computeActiveArea()

◆ icpOptimize()

◆ icpStep()

◆ invalidateActiveArea()

◆ laserAngles()

◆ laserBeams()

◆ likelihood() [1/2]

◆ likelihood() [2/2]

◆ likelihoodAndScore()

◆ optimize() [1/2]

◆ optimize() [2/2]

◆ registerScan()

◆ score()

◆ setLaserParameters()

◆ setMatchingParameters()

Member Data Documentation

◆ m_activeAreaComputed

◆ m_laserAngles

◆ m_laserBeams

◆ m_linePoints

◆ nullLikelihood