GMapping::ScanMatcherProcessor Class Reference

#include <scanmatcherprocessor.h>

Public Member Functions
const ScanMatcherMap &	getMap () const
OrientedPoint	getPose () const
void	init ()
ScanMatcher &	matcher ()
virtual void	processScan (const RangeReading &reading)
	ScanMatcherProcessor (const ScanMatcherMap &m)
	ScanMatcherProcessor (double xmin, double ymin, double xmax, double ymax, double delta, double patchdelta)
void	setMatchingParameters (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, bool computeCovariance=false)
void	setmaxMove (double mmove)
void	setRegistrationParameters (double regScore, double critScore)
void	setSensorMap (const SensorMap &smap, std::string sensorName="FLASER")
virtual	~ScanMatcherProcessor ()

Public Attributes
bool	useICP

Protected Attributes
unsigned int	m_beams
bool	m_computeCovariance
int	m_count
double	m_critScore
bool	m_first
ScanMatcherMap	m_map
ScanMatcher	m_matcher
double	m_maxMove
OrientedPoint	m_odoPose
OrientedPoint	m_pose
double	m_regScore
SensorMap	m_sensorMap

Detailed Description

Definition at line 13 of file scanmatcherprocessor.h.

Constructor & Destructor Documentation

ScanMatcherProcessor() [1/2]

GMapping::ScanMatcherProcessor::ScanMatcherProcessor

(

const ScanMatcherMap &

m

)

Definition at line 10 of file scanmatcherprocessor.cpp.

ScanMatcherProcessor() [2/2]

GMapping::ScanMatcherProcessor::ScanMatcherProcessor	(	double	xmin,
		double	ymin,
		double	xmax,
		double	ymax,
		double	delta,
		double	patchdelta
	)

Definition at line 24 of file scanmatcherprocessor.cpp.

~ScanMatcherProcessor()

GMapping::ScanMatcherProcessor::~ScanMatcherProcessor ( )

virtual

Definition at line 35 of file scanmatcherprocessor.cpp.

Member Function Documentation

getMap()

const ScanMatcherMap& GMapping::ScanMatcherProcessor::getMap ( ) const

inline

Definition at line 25 of file scanmatcherprocessor.h.

getPose()

OrientedPoint GMapping::ScanMatcherProcessor::getPose

(

)

const

Definition at line 228 of file scanmatcherprocessor.cpp.

init()

void GMapping::ScanMatcherProcessor::init

(

)

Definition at line 65 of file scanmatcherprocessor.cpp.

matcher()

ScanMatcher& GMapping::ScanMatcherProcessor::matcher ( )

inline

Definition at line 26 of file scanmatcherprocessor.h.

processScan()

void GMapping::ScanMatcherProcessor::processScan ( const RangeReading &  reading )

virtual

retireve the position from the reading, and compute the odometry

Definition at line 71 of file scanmatcherprocessor.cpp.

setMatchingParameters()

void GMapping::ScanMatcherProcessor::setMatchingParameters	(	double	urange,
		double	range,
		double	sigma,
		int	kernsize,
		double	lopt,
		double	aopt,
		int	iterations,
		bool	computeCovariance = false
	)

Definition at line 217 of file scanmatcherprocessor.cpp.

setmaxMove()

void GMapping::ScanMatcherProcessor::setmaxMove ( double  mmove )

inline

Definition at line 27 of file scanmatcherprocessor.h.

setRegistrationParameters()

void GMapping::ScanMatcherProcessor::setRegistrationParameters	(	double	regScore,
		double	critScore
	)

Definition at line 222 of file scanmatcherprocessor.cpp.

setSensorMap()

void GMapping::ScanMatcherProcessor::setSensorMap	(	const SensorMap &	smap,
		std::string	sensorName = "FLASER"
	)

Definition at line 40 of file scanmatcherprocessor.cpp.

Member Data Documentation

m_beams

unsigned int GMapping::ScanMatcherProcessor::m_beams

protected

Definition at line 35 of file scanmatcherprocessor.h.

m_computeCovariance

bool GMapping::ScanMatcherProcessor::m_computeCovariance

protected

Definition at line 31 of file scanmatcherprocessor.h.

m_count

int GMapping::ScanMatcherProcessor::m_count

protected

Definition at line 41 of file scanmatcherprocessor.h.

m_critScore

double GMapping::ScanMatcherProcessor::m_critScore

protected

Definition at line 34 of file scanmatcherprocessor.h.

m_first

bool GMapping::ScanMatcherProcessor::m_first

protected

Definition at line 32 of file scanmatcherprocessor.h.

m_map

ScanMatcherMap GMapping::ScanMatcherProcessor::m_map

protected

Definition at line 38 of file scanmatcherprocessor.h.

m_matcher

ScanMatcher GMapping::ScanMatcherProcessor::m_matcher

protected

Definition at line 30 of file scanmatcherprocessor.h.

m_maxMove

double GMapping::ScanMatcherProcessor::m_maxMove

protected

Definition at line 36 of file scanmatcherprocessor.h.

m_odoPose

OrientedPoint GMapping::ScanMatcherProcessor::m_odoPose

protected

Definition at line 40 of file scanmatcherprocessor.h.

m_pose

OrientedPoint GMapping::ScanMatcherProcessor::m_pose

protected

Definition at line 39 of file scanmatcherprocessor.h.

m_regScore

double GMapping::ScanMatcherProcessor::m_regScore

protected

Definition at line 34 of file scanmatcherprocessor.h.

m_sensorMap

SensorMap GMapping::ScanMatcherProcessor::m_sensorMap

protected

Definition at line 33 of file scanmatcherprocessor.h.

useICP

bool GMapping::ScanMatcherProcessor::useICP

Definition at line 28 of file scanmatcherprocessor.h.

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

• scanmatcherprocessor.h
• scanmatcherprocessor.cpp