#include <Mapper.h>
Protected Member Functions | |
kt_bool | HasMovedEnough (LocalizedRangeScan *pScan, LocalizedRangeScan *pLastScan) const |
void | InitializeParameters () |
template<class Archive > | |
void | serialize (Archive &ar, const unsigned int version) |
Private Member Functions | |
Mapper (const Mapper &) | |
const Mapper & | operator= (const Mapper &) |
Friends | |
class | boost::serialization::access |
class | MapperGraph |
class | ScanMatcher |
karto::Mapper::Mapper | ( | ) |
Default constructor
Definition at line 2005 of file Mapper.cpp.
karto::Mapper::Mapper | ( | const std::string & | rName | ) |
Constructor a mapper with a name
rName | mapper name |
Default constructor
Definition at line 2019 of file Mapper.cpp.
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Destructor
Definition at line 2033 of file Mapper.cpp.
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Restrict the copy constructor
void karto::Mapper::AddListener | ( | MapperListener * | pListener | ) |
Add a listener to mapper
pListener | Adds a listener |
pListener |
Definition at line 3092 of file Mapper.cpp.
void karto::Mapper::FireBeginLoopClosure | ( | const std::string & | rInfo | ) | const |
Fire a message before loop closure to listeners
rInfo |
Definition at line 3144 of file Mapper.cpp.
void karto::Mapper::FireDebug | ( | const std::string & | rInfo | ) | const |
void karto::Mapper::FireEndLoopClosure | ( | const std::string & | rInfo | ) | const |
Fire a message after loop closure to listeners
rInfo |
Definition at line 3157 of file Mapper.cpp.
void karto::Mapper::FireInfo | ( | const std::string & | rInfo | ) | const |
void karto::Mapper::FireLoopClosureCheck | ( | const std::string & | rInfo | ) | const |
Fire a message upon checking for loop closure to listeners
rInfo |
Definition at line 3131 of file Mapper.cpp.
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Returns all processed scans added to the mapper. NOTE: The returned scans have their corrected pose updated.
Gets all the processed scans
Definition at line 3076 of file Mapper.cpp.
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double karto::Mapper::getParamAngleVariancePenalty | ( | ) |
Definition at line 2367 of file Mapper.cpp.
double karto::Mapper::getParamCoarseAngleResolution | ( | ) |
Definition at line 2382 of file Mapper.cpp.
double karto::Mapper::getParamCoarseSearchAngleOffset | ( | ) |
Definition at line 2377 of file Mapper.cpp.
double karto::Mapper::getParamCorrelationSearchSpaceDimension | ( | ) |
Definition at line 2328 of file Mapper.cpp.
double karto::Mapper::getParamCorrelationSearchSpaceResolution | ( | ) |
Definition at line 2333 of file Mapper.cpp.
double karto::Mapper::getParamCorrelationSearchSpaceSmearDeviation | ( | ) |
Definition at line 2338 of file Mapper.cpp.
double karto::Mapper::getParamDistanceVariancePenalty | ( | ) |
Definition at line 2362 of file Mapper.cpp.
bool karto::Mapper::getParamDoLoopClosing | ( | ) |
Definition at line 2301 of file Mapper.cpp.
double karto::Mapper::getParamFineSearchAngleOffset | ( | ) |
Definition at line 2372 of file Mapper.cpp.
double karto::Mapper::getParamLinkMatchMinimumResponseFine | ( | ) |
Definition at line 2286 of file Mapper.cpp.
double karto::Mapper::getParamLinkScanMaximumDistance | ( | ) |
Definition at line 2291 of file Mapper.cpp.
double karto::Mapper::getParamLoopMatchMaximumVarianceCoarse | ( | ) |
Definition at line 2311 of file Mapper.cpp.
int karto::Mapper::getParamLoopMatchMinimumChainSize | ( | ) |
Definition at line 2306 of file Mapper.cpp.
double karto::Mapper::getParamLoopMatchMinimumResponseCoarse | ( | ) |
Definition at line 2316 of file Mapper.cpp.
double karto::Mapper::getParamLoopMatchMinimumResponseFine | ( | ) |
Definition at line 2321 of file Mapper.cpp.
double karto::Mapper::getParamLoopSearchMaximumDistance | ( | ) |
Definition at line 2296 of file Mapper.cpp.
double karto::Mapper::getParamLoopSearchSpaceDimension | ( | ) |
Definition at line 2345 of file Mapper.cpp.
double karto::Mapper::getParamLoopSearchSpaceResolution | ( | ) |
Definition at line 2350 of file Mapper.cpp.
double karto::Mapper::getParamLoopSearchSpaceSmearDeviation | ( | ) |
Definition at line 2355 of file Mapper.cpp.
double karto::Mapper::getParamMinimumAnglePenalty | ( | ) |
Definition at line 2387 of file Mapper.cpp.
double karto::Mapper::getParamMinimumDistancePenalty | ( | ) |
Definition at line 2392 of file Mapper.cpp.
double karto::Mapper::getParamMinimumTimeInterval | ( | ) |
Definition at line 2261 of file Mapper.cpp.
double karto::Mapper::getParamMinimumTravelDistance | ( | ) |
Definition at line 2266 of file Mapper.cpp.
double karto::Mapper::getParamMinimumTravelHeading | ( | ) |
Definition at line 2271 of file Mapper.cpp.
double karto::Mapper::getParamScanBufferMaximumScanDistance | ( | ) |
Definition at line 2281 of file Mapper.cpp.
int karto::Mapper::getParamScanBufferSize | ( | ) |
Definition at line 2276 of file Mapper.cpp.
bool karto::Mapper::getParamUseResponseExpansion | ( | ) |
Definition at line 2397 of file Mapper.cpp.
bool karto::Mapper::getParamUseScanBarycenter | ( | ) |
Definition at line 2256 of file Mapper.cpp.
bool karto::Mapper::getParamUseScanMatching | ( | ) |
Definition at line 2251 of file Mapper.cpp.
ScanSolver * karto::Mapper::getScanSolver | ( | ) |
Gets scan optimizer used by mapper when closing the loop
Definition at line 3175 of file Mapper.cpp.
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Gets the sequential scan matcher
Definition at line 3185 of file Mapper.cpp.
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Test if the scan is "sufficiently far" from the last scan added.
pScan | scan to be checked |
pLastScan | last scan added to mapper |
Is the scan sufficiently far from the last scan?
pScan | |
pLastScan |
Definition at line 3037 of file Mapper.cpp.
void karto::Mapper::Initialize | ( | kt_double | rangeThreshold | ) |
Allocate memory needed for mapping
rangeThreshold |
Definition at line 2556 of file Mapper.cpp.
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Definition at line 2040 of file Mapper.cpp.
void karto::Mapper::LoadFromFile | ( | const std::string & | filename | ) |
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Process a localized range scan for incorporation into the map. The scan must be identified with a range finder device. Once added to a map, the corrected pose information in the localized scan will be updated to the correct pose as determined by the mapper.
pScan | A localized range scan that has pose information associated directly with the scan data. The pose is that of the range device originating the scan. Note that the mapper will set corrected pose information in the scan object. |
Definition at line 2622 of file Mapper.cpp.
kt_bool karto::Mapper::ProcessAgainstNode | ( | LocalizedRangeScan * | pScan, |
const int & | nodeId | ||
) |
Definition at line 2950 of file Mapper.cpp.
kt_bool karto::Mapper::ProcessAgainstNodesNearBy | ( | LocalizedRangeScan * | pScan | ) |
Definition at line 2699 of file Mapper.cpp.
kt_bool karto::Mapper::ProcessAtDock | ( | LocalizedRangeScan * | pScan | ) |
Definition at line 3025 of file Mapper.cpp.
kt_bool karto::Mapper::ProcessLocalization | ( | LocalizedRangeScan * | pScan | ) |
Definition at line 2776 of file Mapper.cpp.
void karto::Mapper::RemoveListener | ( | MapperListener * | pListener | ) |
Remove a listener to mapper
pListener | Removes a listener |
pListener |
Definition at line 3101 of file Mapper.cpp.
kt_bool karto::Mapper::RemoveNodeFromGraph | ( | Vertex< LocalizedRangeScan > * | vertex_to_remove | ) |
Definition at line 2884 of file Mapper.cpp.
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Resets the mapper. Deallocate memory allocated in Initialize()
Implements karto::Module.
Definition at line 2593 of file Mapper.cpp.
void karto::Mapper::SaveToFile | ( | const std::string & | filename | ) |
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void karto::Mapper::setParamAngleVariancePenalty | ( | double | d | ) |
Definition at line 2519 of file Mapper.cpp.
void karto::Mapper::setParamCoarseAngleResolution | ( | double | d | ) |
Definition at line 2534 of file Mapper.cpp.
void karto::Mapper::setParamCoarseSearchAngleOffset | ( | double | d | ) |
Definition at line 2529 of file Mapper.cpp.
void karto::Mapper::setParamCorrelationSearchSpaceDimension | ( | double | d | ) |
Definition at line 2480 of file Mapper.cpp.
void karto::Mapper::setParamCorrelationSearchSpaceResolution | ( | double | d | ) |
Definition at line 2485 of file Mapper.cpp.
void karto::Mapper::setParamCorrelationSearchSpaceSmearDeviation | ( | double | d | ) |
Definition at line 2490 of file Mapper.cpp.
void karto::Mapper::setParamDistanceVariancePenalty | ( | double | d | ) |
Definition at line 2514 of file Mapper.cpp.
void karto::Mapper::setParamDoLoopClosing | ( | bool | b | ) |
Definition at line 2454 of file Mapper.cpp.
void karto::Mapper::setParamFineSearchAngleOffset | ( | double | d | ) |
Definition at line 2524 of file Mapper.cpp.
void karto::Mapper::setParamLinkMatchMinimumResponseFine | ( | double | d | ) |
Definition at line 2439 of file Mapper.cpp.
void karto::Mapper::setParamLinkScanMaximumDistance | ( | double | d | ) |
Definition at line 2444 of file Mapper.cpp.
void karto::Mapper::setParamLoopMatchMaximumVarianceCoarse | ( | double | d | ) |
Definition at line 2464 of file Mapper.cpp.
void karto::Mapper::setParamLoopMatchMinimumChainSize | ( | int | i | ) |
Definition at line 2459 of file Mapper.cpp.
void karto::Mapper::setParamLoopMatchMinimumResponseCoarse | ( | double | d | ) |
Definition at line 2469 of file Mapper.cpp.
void karto::Mapper::setParamLoopMatchMinimumResponseFine | ( | double | d | ) |
Definition at line 2474 of file Mapper.cpp.
void karto::Mapper::setParamLoopSearchMaximumDistance | ( | double | d | ) |
Definition at line 2449 of file Mapper.cpp.
void karto::Mapper::setParamLoopSearchSpaceDimension | ( | double | d | ) |
Definition at line 2497 of file Mapper.cpp.
void karto::Mapper::setParamLoopSearchSpaceResolution | ( | double | d | ) |
Definition at line 2502 of file Mapper.cpp.
void karto::Mapper::setParamLoopSearchSpaceSmearDeviation | ( | double | d | ) |
Definition at line 2507 of file Mapper.cpp.
void karto::Mapper::setParamMinimumAnglePenalty | ( | double | d | ) |
Definition at line 2539 of file Mapper.cpp.
void karto::Mapper::setParamMinimumDistancePenalty | ( | double | d | ) |
Definition at line 2544 of file Mapper.cpp.
void karto::Mapper::setParamMinimumTimeInterval | ( | double | d | ) |
Definition at line 2414 of file Mapper.cpp.
void karto::Mapper::setParamMinimumTravelDistance | ( | double | d | ) |
Definition at line 2419 of file Mapper.cpp.
void karto::Mapper::setParamMinimumTravelHeading | ( | double | d | ) |
Definition at line 2424 of file Mapper.cpp.
void karto::Mapper::setParamScanBufferMaximumScanDistance | ( | double | d | ) |
Definition at line 2434 of file Mapper.cpp.
void karto::Mapper::setParamScanBufferSize | ( | int | i | ) |
Definition at line 2429 of file Mapper.cpp.
void karto::Mapper::setParamUseResponseExpansion | ( | bool | b | ) |
Definition at line 2549 of file Mapper.cpp.
void karto::Mapper::setParamUseScanBarycenter | ( | bool | b | ) |
Definition at line 2409 of file Mapper.cpp.
void karto::Mapper::setParamUseScanMatching | ( | bool | b | ) |
Definition at line 2404 of file Mapper.cpp.
void karto::Mapper::SetScanSolver | ( | ScanSolver * | pSolver | ) |
Set scan optimizer used by mapper when closing the loop
pSolver |
Definition at line 3170 of file Mapper.cpp.
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Sets the minimum time between scans. If a new scan's time stamp is longer than MinimumTimeInterval from the previously processed scan, the mapper will use the data from the new scan. Otherwise, it will discard the new scan if it also does not meet the minimum travel distance and heading requirements. For performance reasons, it is generally it is a good idea to only process scans if a reasonable amount of time has passed. This parameter is particularly useful when there is a need to process scans while the robot is stationary. Default value is 3600 (seconds), effectively disabling this parameter.
Sets the minimum travel between scans. If a new scan's position is more than minimumTravelDistance from the previous scan, the mapper will use the data from the new scan. Otherwise, it will discard the new scan if it also does not meet the minimum change in heading requirement. For performance reasons, generally it is a good idea to only process scans if the robot has moved a reasonable amount. Default value is 0.2 (meters).
Sets the minimum heading change between scans. If a new scan's heading is more than minimumTravelHeading from the previous scan, the mapper will use the data from the new scan. Otherwise, it will discard the new scan if it also does not meet the minimum travel distance requirement. For performance reasons, generally it is a good idea to only process scans if the robot has moved a reasonable amount. Default value is 10 degrees.
Scan buffer size is the length of the scan chain stored for scan matching. "scanBufferSize" should be set to approximately "scanBufferMaximumScanDistance" / "minimumTravelDistance". The idea is to get an area approximately 20 meters long for scan matching. For example, if we add scans every minimumTravelDistance == 0.3 meters, then "scanBufferSize" should be 20 / 0.3 = 67.) Default value is 67.
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When set to true, the mapper will use a scan matching algorithm. In most real-world situations this should be set to true so that the mapper algorithm can correct for noise and errors in odometry and scan data. In some simulator environments where the simulated scan and odometry data are very accurate, the scan matching algorithm can produce worse results. In those cases set this to false to improve results. Default value is true.