GMapping Namespace Reference

Namespaces
	GFSReader

Classes
class	Array2D
class	autoptr
class	AutoVal
class	CarmenConfiguration
class	CarmenWrapper
class	ConfigFile
class	Configuration
struct	Covariance3
class	DataSmoother
class	DIncompatibleMatrixException
class	DMatrix
class	DNotInvertibleMatrixException
class	DNotSquareMatrixException
struct	EigenCovariance3
class	FSRMovement
struct	Gaussian3
struct	GraphMapEdge
struct	GraphMapPatch
struct	GraphPatchDirectoryCell
struct	GraphPatchGraph
struct	GridLineTraversal
struct	GridLineTraversalLine
class	GridSlamProcessor
class	HierarchicalArray2D
class	InputSensorStream
class	LogSensorStream
class	LuMilesProcessor
class	Map
struct	MotionModel
class	OdometryReading
class	OdometrySensor
struct	Optimizer
struct	OptimizerParams
class	OrientedBoundingBox
struct	orientedpoint
struct	point
struct	PointAccumulator
struct	pointcomparator
struct	pointradialcomparator
class	QParticleViewer
class	RangeReading
class	RangeSensor
class	ScanMatcher
class	ScanMatcherProcessor
struct	ScoredMove
class	Sensor
class	SensorLog
class	SensorReading
class	SensorStream

Typedefs
typedef Array2D< double >	DoubleArray2D
typedef Map< double, DoubleArray2D, false >	DoubleMap
typedef point< int >	IntPoint
typedef orientedpoint< double, double >	OrientedPoint
typedef point< double >	Point
typedef std::pair< Point, Point >	PointPair
typedef Map< PointAccumulator, HierarchicalArray2D< PointAccumulator > >	ScanMatcherMap
typedef std::list< ScoredMove >	ScoredMoveList
typedef std::map< std::string, Sensor * >	SensorMap
typedef std::multimap< const GridSlamProcessor::TNode *, GridSlamProcessor::TNode * >	TNodeMultimap

Enumerations
enum	AccessibilityState { Outside =0x0, Inside =0x1, Allocated =0x2 }

Functions
template<class T , class A >
orientedpoint< T, A >	absoluteDifference (const orientedpoint< T, A > &p1, const orientedpoint< T, A > &p2)
template<class T , class A >
orientedpoint< T, A >	absoluteSum (const orientedpoint< T, A > &p1, const orientedpoint< T, A > &p2)
template<class T , class A >
point< T >	absoluteSum (const orientedpoint< T, A > &p1, const point< T > &p2)
template<typename PointIterator , typename WeightIterator >
Gaussian3	computeGaussianFromSamples (PointIterator &pointBegin, PointIterator &pointEnd, WeightIterator &weightBegin, WeightIterator &weightEnd)
template<typename PointIterator >
Gaussian3	computeGaussianFromSamples (PointIterator &pointBegin, PointIterator &pointEnd)
template<class T >
double	euclidianDist (const point< T > &p1, const point< T > &p2)
template<class T , class A >
double	euclidianDist (const orientedpoint< T, A > &p1, const orientedpoint< T, A > &p2)
template<class T , class A >
double	euclidianDist (const orientedpoint< T, A > &p1, const point< T > &p2)
template<class T , class A >
double	euclidianDist (const point< T > &p1, const orientedpoint< T, A > &p2)
double UTILS_EXPORT	evalGaussian (double sigmaSquare, double delta)
double UTILS_EXPORT	evalLogGaussian (double sigmaSquare, double delta)
template<typename PointPairContainer >
double	icpNonlinearStep (OrientedPoint &retval, const PointPairContainer &container)
template<typename PointPairContainer >
double	icpStep (OrientedPoint &retval, const PointPairContainer &container)
template<class T , class F >
point< T >	interpolate (const point< T > &p1, const F &t1, const point< T > &p2, const F &t2, const F &t3)
template<class T , class A , class F >
orientedpoint< T, A >	interpolate (const orientedpoint< T, A > &p1, const F &t1, const orientedpoint< T, A > &p2, const F &t2, const F &t3)
int	main (int argc, conat char **argv)
template<class T >
point< T >	max (const point< T > &p1, const point< T > &p2)
template<class T >
point< T >	min (const point< T > &p1, const point< T > &p2)
template<class T >
point< T >	operator* (const point< T > &p, const T &v)
template<class T >
point< T >	operator* (const T &v, const point< T > &p)
template<class T >
T	operator* (const point< T > &p1, const point< T > &p2)
template<class T , class A >
orientedpoint< T, A >	operator* (const orientedpoint< T, A > &p, const T &v)
template<class T , class A >
orientedpoint< T, A >	operator* (const T &v, const orientedpoint< T, A > &p)
template<class T >
point< T >	operator+ (const point< T > &p1, const point< T > &p2)
template<class T , class A >
orientedpoint< T, A >	operator+ (const orientedpoint< T, A > &p1, const orientedpoint< T, A > &p2)
template<class T >
point< T >	operator- (const point< T > &p1, const point< T > &p2)
template<class T , class A >
orientedpoint< T, A >	operator- (const orientedpoint< T, A > &p1, const orientedpoint< T, A > &p2)
template<class X >
std::ostream &	operator<< (std::ostream &os, const DMatrix< X > &m)
double	pf_ran_gaussian (double sigma)
void UTILS_EXPORT	printmemusage ()
double	propagateWeight (GridSlamProcessor::TNode *n, double weight)
double UTILS_EXPORT	sampleGaussian (double sigma, unsigned long int S=0)
double UTILS_EXPORT	sampleUniformDouble (double min, double max)
int UTILS_EXPORT	sampleUniformInt (int max)

Variables
const double	m_distanceThresholdCheck = 20
typedef	Map< GraphPatchDirectoryCell >

Typedef Documentation

DoubleArray2D

typedef Array2D<double> GMapping::DoubleArray2D

The cells have to define the special value Cell::Unknown to handle with the unallocated areas. The cells have to define (int) constructor;

Definition at line 13 of file map.h.

DoubleMap

typedef Map<double, DoubleArray2D, false> GMapping::DoubleMap

Definition at line 95 of file map.h.

IntPoint

typedef point<int> GMapping::IntPoint

Definition at line 201 of file point.h.

OrientedPoint

typedef orientedpoint<double, double> GMapping::OrientedPoint

Definition at line 203 of file point.h.

Point

typedef point<double> GMapping::Point

Definition at line 202 of file point.h.

PointPair

typedef std::pair<Point,Point> GMapping::PointPair

Definition at line 10 of file icp.h.

ScanMatcherMap

typedef Map<PointAccumulator,HierarchicalArray2D<PointAccumulator> > GMapping::ScanMatcherMap

Definition at line 50 of file smmap.h.

ScoredMoveList

typedef std::list< ScoredMove > GMapping::ScoredMoveList

Definition at line 428 of file scanmatcher.cpp.

SensorMap

typedef std::map<std::string, Sensor*> GMapping::SensorMap

Definition at line 20 of file sensor.h.

TNodeMultimap

typedef std::multimap<const GridSlamProcessor::TNode*, GridSlamProcessor::TNode*> GMapping::TNodeMultimap

Definition at line 331 of file gridslamprocessor.h.

Enumeration Type Documentation

AccessibilityState

enum GMapping::AccessibilityState

Enumerator
Outside
Inside
Allocated

Definition at line 5 of file accessstate.h.

Function Documentation

absoluteDifference()

template<class T , class A >

orientedpoint<T,A> GMapping::absoluteDifference	(	const orientedpoint< T, A > &	p1,
		const orientedpoint< T, A > &	p2
	)

Definition at line 107 of file point.h.

absoluteSum() [1/2]

template<class T , class A >

orientedpoint<T,A> GMapping::absoluteSum	(	const orientedpoint< T, A > &	p1,
		const orientedpoint< T, A > &	p2
	)

Definition at line 116 of file point.h.

absoluteSum() [2/2]

template<class T , class A >

point<T> GMapping::absoluteSum	(	const orientedpoint< T, A > &	p1,
		const point< T > &	p2
	)

Definition at line 123 of file point.h.

computeGaussianFromSamples() [1/2]

template<typename PointIterator , typename WeightIterator >

Gaussian3 GMapping::computeGaussianFromSamples	(	PointIterator &	pointBegin,
		PointIterator &	pointEnd,
		WeightIterator &	weightBegin,
		WeightIterator &	weightEnd
	)

Definition at line 44 of file stat.h.

computeGaussianFromSamples() [2/2]

template<typename PointIterator >

Gaussian3 GMapping::computeGaussianFromSamples	(	PointIterator &	pointBegin,
		PointIterator &	pointEnd
	)

Definition at line 99 of file stat.h.

euclidianDist() [1/4]

template<class T >

double GMapping::euclidianDist ( const point< T > &  p1, const point< T > &  p2  )

inline

Definition at line 183 of file point.h.

euclidianDist() [2/4]

template<class T , class A >

double GMapping::euclidianDist ( const orientedpoint< T, A > &  p1, const orientedpoint< T, A > &  p2  )

inline

Definition at line 187 of file point.h.

euclidianDist() [3/4]

template<class T , class A >

double GMapping::euclidianDist ( const orientedpoint< T, A > &  p1, const point< T > &  p2  )

inline

Definition at line 191 of file point.h.

euclidianDist() [4/4]

template<class T , class A >

double GMapping::euclidianDist ( const point< T > &  p1, const orientedpoint< T, A > &  p2  )

inline

Definition at line 195 of file point.h.

evalGaussian()

double UTILS_EXPORT GMapping::evalGaussian	(	double	sigmaSquare,
		double	delta
	)

evalLogGaussian()

double GMapping::evalLogGaussian	(	double	sigmaSquare,
		double	delta
	)

Definition at line 75 of file stat.cpp.

icpNonlinearStep()

template<typename PointPairContainer >

double GMapping::icpNonlinearStep	(	OrientedPoint &	retval,
		const PointPairContainer &	container
	)

Definition at line 48 of file icp.h.

icpStep()

template<typename PointPairContainer >

double GMapping::icpStep	(	OrientedPoint &	retval,
		const PointPairContainer &	container
	)

Definition at line 13 of file icp.h.

interpolate() [1/2]

template<class T , class F >

point<T> GMapping::interpolate ( const point< T > &  p1, const F &  t1, const point< T > &  p2, const F &  t2, const F &  t3  )

inline

Definition at line 162 of file point.h.

interpolate() [2/2]

template<class T , class A , class F >

orientedpoint<T,A> GMapping::interpolate ( const orientedpoint< T, A > &  p1, const F &  t1, const orientedpoint< T, A > &  p2, const F &  t2, const F &  t3  )

inline

Definition at line 170 of file point.h.

main()

int GMapping::main	(	int	argc,
		conat char **	argv
	)

Definition at line 45 of file lumiles.h.

max()

template<class T >

point<T> GMapping::max ( const point< T > &  p1, const point< T > &  p2  )

inline

Definition at line 146 of file point.h.

min()

template<class T >

point<T> GMapping::min ( const point< T > &  p1, const point< T > &  p2  )

inline

Definition at line 154 of file point.h.

operator*() [1/5]

template<class T >

point<T> GMapping::operator* ( const point< T > &  p, const T &  v  )

inline

Definition at line 30 of file point.h.

operator*() [2/5]

template<class T >

point<T> GMapping::operator* ( const T &  v, const point< T > &  p  )

inline

Definition at line 35 of file point.h.

operator*() [3/5]

template<class T >

T GMapping::operator* ( const point< T > &  p1, const point< T > &  p2  )

inline

Definition at line 40 of file point.h.

operator*() [4/5]

template<class T , class A >

orientedpoint<T,A> GMapping::operator*	(	const orientedpoint< T, A > &	p,
		const T &	v
	)

Definition at line 97 of file point.h.

operator*() [5/5]

template<class T , class A >

orientedpoint<T,A> GMapping::operator*	(	const T &	v,
		const orientedpoint< T, A > &	p
	)

Definition at line 102 of file point.h.

operator+() [1/2]

template<class T >

point<T> GMapping::operator+ ( const point< T > &  p1, const point< T > &  p2  )

inline

Definition at line 20 of file point.h.

operator+() [2/2]

template<class T , class A >

orientedpoint<T,A> GMapping::operator+	(	const orientedpoint< T, A > &	p1,
		const orientedpoint< T, A > &	p2
	)

Definition at line 87 of file point.h.

operator-() [1/2]

template<class T >

point<T> GMapping::operator- ( const point< T > &  p1, const point< T > &  p2  )

inline

Definition at line 25 of file point.h.

operator-() [2/2]

template<class T , class A >

orientedpoint<T,A> GMapping::operator-	(	const orientedpoint< T, A > &	p1,
		const orientedpoint< T, A > &	p2
	)

Definition at line 92 of file point.h.

operator<<()

template<class X >

std::ostream& GMapping::operator<<	(	std::ostream &	os,
		const DMatrix< X > &	m
	)

Definition at line 217 of file dmatrix.h.

pf_ran_gaussian()

double GMapping::pf_ran_gaussian

(

double

sigma

)

Definition at line 31 of file stat.cpp.

printmemusage()

void GMapping::printmemusage

(

)

Definition at line 6 of file printmemusage.cpp.

propagateWeight()

double GMapping::propagateWeight	(	GridSlamProcessor::TNode *	n,
		double	weight
	)

Definition at line 220 of file gridslamprocessor_tree.cpp.

sampleGaussian()

double GMapping::sampleGaussian	(	double	sigma,
		unsigned long int	S = 0
	)

stupid utility function for drawing particles form a zero mean, sigma variance normal distribution probably it should not go there

Definition at line 48 of file stat.cpp.

sampleUniformDouble()

double UTILS_EXPORT GMapping::sampleUniformDouble	(	double	min,
		double	max
	)

sampleUniformInt()

int UTILS_EXPORT GMapping::sampleUniformInt

(

int

max

)

Variable Documentation

m_distanceThresholdCheck

const double GMapping::m_distanceThresholdCheck = 20

Definition at line 16 of file gridslamprocessor.cpp.

Map< GraphPatchDirectoryCell >

typedef GMapping::Map< GraphPatchDirectoryCell >

Definition at line 55 of file graphmap.cpp.