karto::GridIndexLookup< T > Class Template Reference

#include <Karto.h>

Public Member Functions
void	ComputeOffsets (LocalizedRangeScan *pScan, kt_double angleCenter, kt_double angleOffset, kt_double angleResolution)
const std::vector< kt_double > &	GetAngles () const
const LookupArray *	GetLookupArray (kt_int32u index) const
	GridIndexLookup ()
	GridIndexLookup (Grid< T > *pGrid)
virtual	~GridIndexLookup ()

Private Member Functions
void	ComputeOffsets (kt_int32u angleIndex, kt_double angle, const Pose2Vector &rLocalPoints, LocalizedRangeScan *pScan)
void	DestroyArrays ()
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)
void	SetSize (kt_int32u size)

Private Attributes
std::vector< kt_double >	m_Angles
kt_int32u	m_Capacity
Grid< T > *	m_pGrid
LookupArray **	m_ppLookupArray
kt_int32u	m_Size

Friends
class	boost::serialization::access

Detailed Description

template<typename T>
class karto::GridIndexLookup< T >

Create lookup tables for point readings at varying angles in grid. For each angle, grid indexes are calculated for each range reading. This is to speed up finding best angle/position for a localized range scan

Used heavily in mapper and localizer.

In the localizer, this is a huge speed up for calculating possible position. For each particle, a probability is calculated. The range scan is the same, but all grid indexes at all possible angles are calculated. So when calculating the particle probability at a specific angle, the index table is used to look up probability in probability grid!

Definition at line 6888 of file Karto.h.

Constructor & Destructor Documentation

GridIndexLookup() [1/2]

template<typename T>

karto::GridIndexLookup< T >::GridIndexLookup ( )

inline

Construct a GridIndexLookup with a grid

Parameters

pGrid

Definition at line 6895 of file Karto.h.

GridIndexLookup() [2/2]

template<typename T>

karto::GridIndexLookup< T >::GridIndexLookup ( Grid< T > *  pGrid )

inline

Definition at line 6898 of file Karto.h.

~GridIndexLookup()

template<typename T>

virtual karto::GridIndexLookup< T >::~GridIndexLookup ( )

inlinevirtual

Destructor

Definition at line 6909 of file Karto.h.

Member Function Documentation

ComputeOffsets() [1/2]

template<typename T>

void karto::GridIndexLookup< T >::ComputeOffsets ( LocalizedRangeScan *  pScan, kt_double  angleCenter, kt_double  angleOffset, kt_double  angleResolution  )

inline

Compute lookup table of the points of the given scan for the given angular space

Parameters

pScan	the scan
angleCenter
angleOffset	computes lookup arrays for the angles within this offset around angleStart
angleResolution	how fine a granularity to compute lookup arrays in the angular space

Definition at line 6943 of file Karto.h.

ComputeOffsets() [2/2]

template<typename T>

void karto::GridIndexLookup< T >::ComputeOffsets ( kt_int32u  angleIndex, kt_double  angle, const Pose2Vector &  rLocalPoints, LocalizedRangeScan *  pScan  )

inlineprivate

Compute lookup value of points for given angle

Parameters

angleIndex
angle
rLocalPoints

Definition at line 6989 of file Karto.h.

DestroyArrays()

template<typename T>

void karto::GridIndexLookup< T >::DestroyArrays ( )

inlineprivate

Delete the arrays

Definition at line 7069 of file Karto.h.

GetAngles()

template<typename T>

const std::vector<kt_double>& karto::GridIndexLookup< T >::GetAngles ( ) const

inline

Get angles

Returns

std::vector<kt_double>& angles

Definition at line 6931 of file Karto.h.

GetLookupArray()

template<typename T>

const LookupArray* karto::GridIndexLookup< T >::GetLookupArray ( kt_int32u  index ) const

inline

Gets the lookup array for a particular angle index

Parameters

index

Returns

lookup array

Definition at line 6920 of file Karto.h.

serialize()

template<typename T>

template<class Archive >

void karto::GridIndexLookup< T >::serialize ( Archive &  ar, const unsigned int  version  )

inlineprivate

Definition at line 7097 of file Karto.h.

SetSize()

template<typename T>

void karto::GridIndexLookup< T >::SetSize ( kt_int32u  size )

inlineprivate

Sets size of lookup table (resize if not big enough)

Parameters

size

Definition at line 7042 of file Karto.h.

Friends And Related Function Documentation

boost::serialization::access

template<typename T>

friend class boost::serialization::access

friend

Definition at line 7095 of file Karto.h.

Member Data Documentation

m_Angles

template<typename T>

std::vector<kt_double> karto::GridIndexLookup< T >::m_Angles

private

Definition at line 7094 of file Karto.h.

m_Capacity

template<typename T>

kt_int32u karto::GridIndexLookup< T >::m_Capacity

private

Definition at line 7088 of file Karto.h.

m_pGrid

template<typename T>

Grid<T>* karto::GridIndexLookup< T >::m_pGrid

private

Definition at line 7086 of file Karto.h.

m_ppLookupArray

template<typename T>

LookupArray** karto::GridIndexLookup< T >::m_ppLookupArray

private

Definition at line 7091 of file Karto.h.

m_Size

template<typename T>

kt_int32u karto::GridIndexLookup< T >::m_Size

private

Definition at line 7089 of file Karto.h.

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

• Karto.h