beluga Namespace Reference

Namespaces
	actions
	clusterizer_detail
	detail
	io
	policies
	state_detail
	testing
	tutorial
	views
	weight_detail

Classes
class	Amcl
struct	AmclParams
class	BaseDenseGrid2
class	BaseLaserScan
class	BaseLinearGrid2
class	BaseOccupancyGrid2
class	BaseRegularGrid
struct	BeamModelParam
class	BeamSensorModel
struct	BearingModelParam
class	BearingSensorModel
struct	BearingSensorModelTests
class	Bresenham2i
class	CircularArray
struct	common_tuple_type
struct	common_tuple_type< T, U, std::index_sequence< I... > >
struct	decay_tuple_like
struct	decay_tuple_like< TupleLike< Args... >, std::enable_if_t< is_tuple_like_v< std::decay_t< TupleLike< Args... > > > > >
class	DifferentialDriveModel
struct	DifferentialDriveModelParam
class	ExponentialFilter
struct	has_common_tuple_type
struct	has_common_tuple_type< T, U, std::void_t< common_tuple_type_t< T, U > > >
struct	has_single_element
struct	Hasher
class	IndexingIterator
struct	is_tuple_like
struct	LandmarkBearingDetection
class	LandmarkMap
struct	LandmarkModelParam
struct	LandmarkPositionDetection
class	LandmarkSensorModel
struct	Less
class	LikelihoodFieldModel
struct	LikelihoodFieldModelParam
struct	multivariate_distribution_traits
struct	multivariate_distribution_traits< T, std::enable_if_t< std::is_base_of_v< Eigen::EigenBase< T >, T > > >
struct	multivariate_distribution_traits< T, std::enable_if_t< std::is_base_of_v< Sophus::SE2Base< T >, T > > >
struct	multivariate_distribution_traits< T, std::enable_if_t< std::is_base_of_v< Sophus::SE3Base< T >, T > > >
struct	multivariate_distribution_traits< T, std::enable_if_t< std::is_base_of_v< Sophus::SO2Base< T >, T > > >
struct	multivariate_distribution_traits< T, std::enable_if_t< std::is_base_of_v< Sophus::SO3Base< T >, T > > >
class	MultivariateNormalDistribution
class	MultivariateNormalDistributionParam
class	MultivariateUniformDistribution
class	MultivariateUniformDistribution< Sophus::SE2d, Eigen::AlignedBox2d >
class	MultivariateUniformDistribution< Sophus::SE2d, OccupancyGrid >
class	MultivariateUniformDistribution< Sophus::SE3d, Eigen::AlignedBox3d >
struct	NDTCell
struct	NDTModelParam
class	NDTSensorModel
class	Numeric
class	OmnidirectionalDriveModel
struct	OmnidirectionalDriveModelParam
struct	particle_traits
class	ParticleClusterizer
struct	ParticleClusterizerParam
struct	policy
struct	policy_base
class	Ray2d
class	SparseGridTests
class	SparseValueGrid
struct	spatial_hash
class	spatial_hash< Sophus::SE2d, void >
struct	spatial_hash< State >
class	spatial_hash< std::array< T, N >, std::enable_if_t< std::is_arithmetic_v< T >, void > >
class	spatial_hash< Tuple< Types... >, std::enable_if_t<(std::is_arithmetic_v< Types > &&...), void > >
class	StationaryModel
class	ThrunRecoveryProbabilityEstimator
struct	tuple_index
class	TupleContainer
class	TupleContainer< InternalContainer, std::tuple< Types... > >
class	TupleVector
class	ValueGrid2

Typedefs
typedef policy< std::function< bool(Args...)> >	any_policy
typedef BaseRegularGrid< Derived, 2 >	BaseRegularGrid2
typedef BaseRegularGrid< Derived, 3 >	BaseRegularGrid3
typedef BearingSensorModel< LandmarkMap, Sophus::SE2d >	BearingSensorModel2d
typedef BearingSensorModel< LandmarkMap, Sophus::SE3d >	BearingSensorModel3d
typedef ::testing::Types< Sensor2D, Sensor3D >	BearingSensorModelTestsTypes
typedef Numeric< std::size_t, struct ClusterTag >	Cluster
typedef typename common_tuple_type< T, U >::type	common_tuple_type_t
typedef typename decay_tuple_like< T >::type	decay_tuple_like_t
typedef DifferentialDriveModel< Sophus::SE2d >	DifferentialDriveModel2d
typedef DifferentialDriveModel< Sophus::SE3d >	DifferentialDriveModel3d
typedef Eigen::Vector3d	LandmarkBearing3
typedef uint32_t	LandmarkCategory
typedef Eigen::AlignedBox3d	LandmarkMapBoundaries
typedef Eigen::Vector3d	LandmarkPosition3
typedef LandmarkSensorModel< LandmarkMap, Sophus::SE2d >	LandmarkSensorModel2d
typedef LandmarkSensorModel< LandmarkMap, Sophus::SE3d >	LandmarkSensorModel3d
typedef NDTCell< 2, double >	NDTCell2d
typedef NDTCell< 2, float >	NDTCell2f
typedef NDTCell< 3, double >	NDTCell3d
typedef NDTCell< 3, float >	NDTCell3f
typedef NDTModelParam< 2 >	NDTModelParam2d
typedef NDTModelParam< 3 >	NDTModelParam3d
typedef CircularArray< T, N, CircularArrayFeatureFlags::kRolloverOnWrite|CircularArrayFeatureFlags::kExtrapolateOnRead|CircularArrayFeatureFlags::kLayoutReversal >	RollingWindow
typedef beluga::BearingSensorModel2d< LandmarkMap >	Sensor2D
typedef beluga::BearingSensorModel3d< LandmarkMap >	Sensor3D
typedef testing::Types< std::unordered_map< Eigen::Vector2i, int, Hasher >, std::map< Eigen::Vector2i, int, Less > >	SparseGridTestCases
typedef SparseValueGrid< MapType, 2 >	SparseValueGrid2
typedef SparseValueGrid< MapType, 3 >	SparseValueGrid3
typedef typename particle_traits< T >::state_type	state_t
typedef Numeric< double, struct StrongDoubleTag >	strong_double
typedef Numeric< std::size_t, struct StrongSizeTTag >	strong_size_t
typedef Numeric< std::size_t, struct StrongSizeTTag2 >	strong_size_t_2
typedef typename tuple_index< T, TupleLike >::type	tuple_index_t
typedef beluga::BeamSensorModel< StaticOccupancyGrid< 5, 5 > >	UUT
typedef std::vector< T, std::allocator< T > >	Vector
typedef Numeric< double, struct WeightTag >	Weight
typedef typename particle_traits< T >::weight_type	weight_t

Enumerations
enum	CircularArrayFeatureFlags { CircularArrayFeatureFlags::kNone, CircularArrayFeatureFlags::kRolloverOnWrite, CircularArrayFeatureFlags::kExtrapolateOnRead, CircularArrayFeatureFlags::kLayoutReversal }

Functions
Sophus::Matrix2< Scalar >	calculate_covariance (Range &&range, const Sophus::Vector2< Scalar > &mean)
Sophus::Matrix2< Scalar >	calculate_covariance (Range &&range, WeightsRange &&normalized_weights, const Sophus::Vector2< Scalar > &mean)
auto	cluster_based_estimate (States &&states, Weights &&weights, ParticleClusterizerParam parameters={})
auto	effective_sample_size (Range &&range)
constexpr decltype(auto)	element (TupleLike &&tuple) noexcept
std::pair< Sophus::SE2< Scalar >, Sophus::Matrix3< Scalar > >	estimate (Poses &&poses)
std::pair< Sophus::SE2< Scalar >, Sophus::Matrix3< Scalar > >	estimate (Poses &&poses, Weights &&weights)
std::pair< Scalar, Scalar >	estimate (Scalars &&scalars, Weights &&weights)
auto	estimate_clusters (States &&states, Weights &&weights, Clusters &&clusters)
double	expected_aggregate_probability (std::vector< double > landmark_probs)
constexpr auto &&	forward_like (U &&value) noexcept
constexpr T &&	get (CircularArray< T, N, F > &&array) noexcept
constexpr T &	get (CircularArray< T, N, F > &array) noexcept
constexpr const T &&	get (const CircularArray< T, N, F > &&array) noexcept
constexpr const T &	get (const CircularArray< T, N, F > &array) noexcept
BearingModelParam	get_default_model_params ()
T	get_robot_pose_in_world ()
Sophus::SE2d	get_robot_pose_in_world< Sophus::SE2d > ()
Sophus::SE3d	get_robot_pose_in_world< Sophus::SE3d > ()
BeamModelParam	GetParams ()
auto	kld_condition (std::size_t min, double epsilon, double z=beluga::detail::kDefaultKldZ)
auto	make_sensor_data (std::vector< std::tuple< double, double, double, uint32_t >> detections)
	MultivariateNormalDistribution (const T &, const typename multivariate_distribution_traits< T >::covariance_type &) -> MultivariateNormalDistribution< typename multivariate_distribution_traits< T >::result_type >
	MultivariateUniformDistribution (const BaseOccupancyGrid2< Derived > &) -> MultivariateUniformDistribution< Sophus::SE2d, Derived >
	MultivariateUniformDistribution (const Eigen::AlignedBox2d &) -> MultivariateUniformDistribution< Sophus::SE2d, Eigen::AlignedBox2d >
	MultivariateUniformDistribution (const Eigen::AlignedBox3d &) -> MultivariateUniformDistribution< Sophus::SE3d, Eigen::AlignedBox3d >
auto	nearest_obstacle_distance_map (Range &&obstacle_map, DistanceFunction &&distance_function, NeighborsFunction &&neighbors_function)
constexpr bool	operator& (CircularArrayFeatureFlags mask, CircularArrayFeatureFlags flag)
CircularArray< T, N, F > &	operator<< (CircularArray< T, N, F > &array, T value)
constexpr CircularArrayFeatureFlags	operator| (CircularArrayFeatureFlags lflag, CircularArrayFeatureFlags rflag)
constexpr void	swap (CircularArray< T, N, F > &a, CircularArray< T, N, G > &b)
	TEST (BaselineRaycasting, Nominal)
	TEST (BeamSensorModel, GridUpdates)
	TEST (BeamSensorModel, ImportanceWeight)
	TEST (Bresenham, Modified)
	TEST (Bresenham, MultiPassGuarantee)
	TEST (Bresenham, Standard)
	TEST (Embed3DTests, Se2ToSe3)
	TEST (Embed3DTests, Se3ToSe2)
	TEST (NDTCellTests, Ostream)
	TEST (NDTCellTests, Product)
	TEST (NDTSensorModel2DTests, CanConstruct)
	TEST (NDTSensorModel2DTests, FitPoints)
	TEST (NDTSensorModel2DTests, Likelihoood)
	TEST (NDTSensorModel2DTests, LoadFromHDF5HappyPath)
	TEST (NDTSensorModel2DTests, LoadFromHDF5NonExistingFile)
	TEST (NDTSensorModel2DTests, MinLikelihood)
	TEST (NDTSensorModel2DTests, SensorModel)
	TEST (NDTSensorModel2DTests, ToCellsNotEnoughPointsInCell)
	TEST (NDTSensorModel3DTests, FitPoints)
	TEST (NDTSensorModel3DTests, LoadFromHDF5HappyPath)
	TEST (NDTSensorModel3DTests, LoadFromHDF5NonExistingFile)
	TEST (NDTSensorModel3DTests, SensorModel)
	TEST (NDTSensorModel3DTests, ToCellsNotEnoughPointsInCell)
	TEST (NumericTypeDef, hash)
	TEST (NumericTypeDef, implicitCasts)
	TEST (NumericTypeDef, numericLimits)
	TEST (Raycasting, Nominal)
	TEST (Raycasting, NonIdentityGridOrigin)
	TEST (TestAmclCore, InitializeFromPose)
	TEST (TestAmclCore, InitializeWithNoParticles)
	TEST (TestAmclCore, ParticlesDependentRandomStateGenerator)
	TEST (TestAmclCore, SelectiveResampleCanBeConstructed)
	TEST (TestAmclCore, TestRandomParticlesInserting)
	TEST (TestAmclCore, Update)
	TEST (TestAmclCore, UpdateWithNoParticles)
	TEST (TestAmclCore, UpdateWithParticles)
	TEST (TestAmclCore, UpdateWithParticlesForced)
	TEST (TestAmclCore, UpdateWithParticlesNoMotion)
Sophus::SE2d	To2d (const Sophus::SE3d &tf)
Sophus::SE3d	To3d (const Sophus::SE2d &tf)
	TupleVector (I, S) -> TupleVector< decay_tuple_like_t< ranges::iter_value_t< I >>>
	TYPED_TEST (BearingSensorModelTests, BullsEyeDetection)
	TYPED_TEST (BearingSensorModelTests, MapUpdate)
	TYPED_TEST (BearingSensorModelTests, MultipleBullsEyeDetections)
	TYPED_TEST (BearingSensorModelTests, NoSuchLandmark)
	TYPED_TEST (BearingSensorModelTests, OneStdInBearing)
	TYPED_TEST (BearingSensorModelTests, SmokeTest)
	TYPED_TEST (SparseGridTests, AllAccessorMethodsAreEquivalent)
	TYPED_TEST (SparseGridTests, CanBeConstructedEmpty)
	TYPED_TEST (SparseGridTests, DataAccessing)
	TYPED_TEST (SparseGridTests, NotPresent)
	TYPED_TEST (SparseGridTests, Resolution)
	TYPED_TEST (SparseGridTests, Size)
	TYPED_TEST_SUITE (BearingSensorModelTests, BearingSensorModelTestsTypes,)
	TYPED_TEST_SUITE (SparseGridTests, SparseGridTestCases,)

Variables
LandmarkMapBoundaries	default_map_boundaries
constexpr bool	has_common_tuple_type_v
constexpr bool	has_single_element_v
constexpr bool	is_tuple_like_v
constexpr detail::make_from_state_fn< Particle >	make_from_state
constexpr detail::make_policy_fn	make_policy
constexpr state_detail::state_fn	state
constexpr std::size_t	tuple_index_v
constexpr weight_detail::weight_fn	weight