GridSlamProcessorThread Struct Reference

#include <gsp_thread.h>

Inheritance diagram for GridSlamProcessorThread:

Classes
struct	DoneEvent
struct	Event
struct	MapEvent
struct	ParticleMoveEvent
struct	ResampleEvent
struct	TruePosEvent

Public Types
typedef deque< Event * >	EventDeque
Public Types inherited from GMapping::GridSlamProcessor
typedef std::vector< Particle >	ParticleVector
typedef std::deque< GridSlamProcessor::TNode * >	TNodeDeque
typedef std::vector< GridSlamProcessor::TNode * >	TNodeVector

Public Member Functions
OrientedPoint	boundingBox (SensorLog *log, double &xmin, double &ymin, double &xmax, double &ymax) const
EventDeque	getEvents ()
std::vector< OrientedPoint >	getHypotheses ()
std::vector< unsigned int >	getIndexes ()
	GridSlamProcessorThread ()
int	init (int argc, const char *const *argv)
bool	isRunning () const
int	loadFiles (const char *fn=0)
virtual void	onOdometryUpdate ()
virtual void	onResampleUpdate ()
virtual void	onScanmatchUpdate ()
void	setEventBufferSize (unsigned int length)
void	setMapUpdateTime (unsigned int ut)
void	start ()
void	stop ()
virtual void	syncOdometryUpdate ()
virtual void	syncResampleUpdate ()
virtual void	syncScanmatchUpdate ()
	~GridSlamProcessorThread ()
Public Member Functions inherited from GMapping::GridSlamProcessor
GridSlamProcessor *	clone () const
int	getBestParticleIndex () const
const std::vector< unsigned int > &	getIndexes () const
const ParticleVector &	getParticles () const
TNodeVector	getTrajectories () const
	GridSlamProcessor ()
	GridSlamProcessor (std::ostream &infoStr)
std::ostream &	infoStream ()
void	init (unsigned int size, double xmin, double ymin, double xmax, double ymax, double delta, OrientedPoint initialPose=OrientedPoint(0, 0, 0))
void	integrateScanSequence (TNode *node)
	MEMBER_PARAM_SET_GET (m_matcher, bool, enlargeStep, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, bool, generateMap, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, gaussianSigma, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, lasamplerange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, lasamplestep, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, laserMaxRange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, likelihoodSigma, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, llsamplerange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, llsamplestep, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, optAngularDelta, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, optLinearDelta, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, double, usableRange, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, int, kernelSize, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, OrientedPoint, laserPose, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, unsigned int, likelihoodSkip, protected, public, public)
	MEMBER_PARAM_SET_GET (m_matcher, unsigned int, optRecursiveIterations, protected, public, public)
std::ofstream &	outputStream ()
	PARAM_SET_GET (double, minimumScore, protected, public, public)
bool	processScan (const RangeReading &reading, int adaptParticles=0)
void	processTruePos (const OdometryReading &odometry)
void	setMatchingParameters (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, double likelihoodSigma=1, double likelihoodGain=1, unsigned int likelihoodSkip=0)
void	setMotionModelParameters (double srr, double srt, double str, double stt)
void	setSensorMap (const SensorMap &smap)
void	setUpdateDistances (double linear, double angular, double resampleThreshold)
void	setUpdatePeriod (double p)
	STRUCT_PARAM_SET_GET (m_motionModel, double, srr, protected, public, public)
	STRUCT_PARAM_SET_GET (m_motionModel, double, srt, protected, public, public)
	STRUCT_PARAM_SET_GET (m_motionModel, double, str, protected, public, public)
	STRUCT_PARAM_SET_GET (m_motionModel, double, stt, protected, public, public)
virtual	~GridSlamProcessor ()

Static Public Member Functions
static void *	fastslamthread (GridSlamProcessorThread *gpt)

Private Member Functions
void	addEvent (Event *)

Private Attributes
double	angularOdometryReliability
double	angularUpdate
double	astep
bool	autosize
bool	considerOdometryCovariance
double	critscore
double	delta
EventDeque	eventBuffer
unsigned int	eventBufferLength
std::string	filename
bool	generateMap
pthread_t	gfs_thread
pthread_mutex_t	hist_mutex
pthread_mutex_t	hp_mutex
std::vector< OrientedPoint >	hypotheses
pthread_mutex_t	ind_mutex
std::vector< unsigned int >	indexes
InputSensorStream *	input
int	iterations
int	kernelSize
double	lasamplerange
double	lasamplestep
double	linearOdometryReliability
double	linearUpdate
double	llsamplerange
double	llsamplestep
double	lsigma
unsigned int	lskip
double	lstep
unsigned int	m_argc
const char *const *	m_argv
unsigned int	mapTimer
unsigned int	mapUpdateTime
double	maxMove
double	maxrange
double	maxUrange
double	ogain
bool	onLine
std::string	outfilename
int	particles
std::ifstream	plainStream
unsigned int	randseed
bool	readFromStdin
double	regscore
double	resampleThreshold
bool	running
SensorMap	sensorMap
double	sigma
bool	skipMatching
double	srr
double	srt
double	str
double	stt
std::vector< double >	weightSums
double	xmax
double	xmin
double	ymax
double	ymin

Additional Inherited Members
Public Attributes inherited from GMapping::GridSlamProcessor
ScanMatcher	m_matcher
Protected Member Functions inherited from GMapping::GridSlamProcessor
	GridSlamProcessor (const GridSlamProcessor &gsp)
	PARAM_GET (double, delta, protected, public)
	PARAM_GET (double, neff, protected, public)
	PARAM_GET (double, xmax, protected, public)
	PARAM_GET (double, xmin, protected, public)
	PARAM_GET (double, ymax, protected, public)
	PARAM_GET (double, ymin, protected, public)
	PARAM_SET_GET (double, angularThresholdDistance, protected, public, public)
	PARAM_SET_GET (double, critScore, protected, public, public)
	PARAM_SET_GET (double, linearThresholdDistance, protected, public, public)
	PARAM_SET_GET (double, maxMove, protected, public, public)
	PARAM_SET_GET (double, obsSigmaGain, protected, public, public)
	PARAM_SET_GET (double, regScore, protected, public, public)
	PARAM_SET_GET (double, resampleThreshold, protected, public, public)
Protected Attributes inherited from GMapping::GridSlamProcessor
double	last_update_time_
double	m_angularDistance
unsigned int	m_beams
int	m_count
std::vector< unsigned int >	m_indexes
std::ostream &	m_infoStream
OrientedPoint	m_lastPartPose
double	m_linearDistance
MotionModel	m_motionModel
OrientedPoint	m_odoPose
std::ofstream	m_outputStream
ParticleVector	m_particles
OrientedPoint	m_pose
int	m_readingCount
std::vector< double >	m_weights
double	period_

Detailed Description

Definition at line 44 of file gsp_thread.h.

Member Typedef Documentation

EventDeque

typedef deque<Event*> GridSlamProcessorThread::EventDeque

Definition at line 74 of file gsp_thread.h.

Constructor & Destructor Documentation

GridSlamProcessorThread()

GridSlamProcessorThread::GridSlamProcessorThread

(

)

Definition at line 188 of file gsp_thread.cpp.

~GridSlamProcessorThread()

GridSlamProcessorThread::~GridSlamProcessorThread

(

)

Definition at line 267 of file gsp_thread.cpp.

Member Function Documentation

addEvent()

void GridSlamProcessorThread::addEvent ( GridSlamProcessorThread::Event *  e )

private

Definition at line 604 of file gsp_thread.cpp.

boundingBox()

OrientedPoint GridSlamProcessorThread::boundingBox	(	SensorLog *	log,
		double &	xmin,
		double &	ymin,
		double &	xmax,
		double &	ymax
	)		const

Definition at line 634 of file gsp_thread.cpp.

fastslamthread()

void * GridSlamProcessorThread::fastslamthread ( GridSlamProcessorThread *  gpt )

static

Definition at line 277 of file gsp_thread.cpp.

getEvents()

GridSlamProcessorThread::EventDeque GridSlamProcessorThread::getEvents

(

)

Definition at line 615 of file gsp_thread.cpp.

getHypotheses()

std::vector< OrientedPoint > GridSlamProcessorThread::getHypotheses

(

)

Definition at line 485 of file gsp_thread.cpp.

getIndexes()

std::vector< unsigned int > GridSlamProcessorThread::getIndexes

(

)

Definition at line 492 of file gsp_thread.cpp.

init()

int GridSlamProcessorThread::init	(	int	argc,
		const char *const *	argv
	)

Definition at line 36 of file gsp_thread.cpp.

isRunning()

bool GridSlamProcessorThread::isRunning ( ) const

inline

Definition at line 99 of file gsp_thread.h.

loadFiles()

int GridSlamProcessorThread::loadFiles

(

const char *

fn = 0

)

Definition at line 153 of file gsp_thread.cpp.

onOdometryUpdate()

void GridSlamProcessorThread::onOdometryUpdate ( )

virtual

Reimplemented from GMapping::GridSlamProcessor.

Definition at line 516 of file gsp_thread.cpp.

onResampleUpdate()

void GridSlamProcessorThread::onResampleUpdate ( )

virtual

Reimplemented from GMapping::GridSlamProcessor.

Definition at line 537 of file gsp_thread.cpp.

onScanmatchUpdate()

void GridSlamProcessorThread::onScanmatchUpdate ( )

virtual

Reimplemented from GMapping::GridSlamProcessor.

Definition at line 555 of file gsp_thread.cpp.

setEventBufferSize()

void GridSlamProcessorThread::setEventBufferSize

(

unsigned int

length

)

Definition at line 630 of file gsp_thread.cpp.

setMapUpdateTime()

void GridSlamProcessorThread::setMapUpdateTime ( unsigned int  ut )

inline

Definition at line 98 of file gsp_thread.h.

start()

void GridSlamProcessorThread::start

(

)

Definition at line 499 of file gsp_thread.cpp.

stop()

void GridSlamProcessorThread::stop

(

)

Definition at line 506 of file gsp_thread.cpp.

syncOdometryUpdate()

void GridSlamProcessorThread::syncOdometryUpdate ( )

virtual

Definition at line 595 of file gsp_thread.cpp.

syncResampleUpdate()

void GridSlamProcessorThread::syncResampleUpdate ( )

virtual

Definition at line 598 of file gsp_thread.cpp.

syncScanmatchUpdate()

void GridSlamProcessorThread::syncScanmatchUpdate ( )

virtual

Definition at line 601 of file gsp_thread.cpp.

Member Data Documentation

angularOdometryReliability

double GridSlamProcessorThread::angularOdometryReliability

private

Definition at line 149 of file gsp_thread.h.

angularUpdate

double GridSlamProcessorThread::angularUpdate

private

Definition at line 159 of file gsp_thread.h.

astep

double GridSlamProcessorThread::astep

private

Definition at line 136 of file gsp_thread.h.

autosize

bool GridSlamProcessorThread::autosize

private

Definition at line 126 of file gsp_thread.h.

considerOdometryCovariance

bool GridSlamProcessorThread::considerOdometryCovariance

private

Definition at line 170 of file gsp_thread.h.

critscore

double GridSlamProcessorThread::critscore

private

Definition at line 139 of file gsp_thread.h.

delta

double GridSlamProcessorThread::delta

private

Definition at line 127 of file gsp_thread.h.

eventBuffer

EventDeque GridSlamProcessorThread::eventBuffer

private

Definition at line 104 of file gsp_thread.h.

eventBufferLength

unsigned int GridSlamProcessorThread::eventBufferLength

private

Definition at line 106 of file gsp_thread.h.

filename

std::string GridSlamProcessorThread::filename

private

Definition at line 119 of file gsp_thread.h.

generateMap

bool GridSlamProcessorThread::generateMap

private

Definition at line 169 of file gsp_thread.h.

gfs_thread

pthread_t GridSlamProcessorThread::gfs_thread

private

Definition at line 115 of file gsp_thread.h.

hist_mutex

pthread_mutex_t GridSlamProcessorThread::hist_mutex

private

Definition at line 114 of file gsp_thread.h.

hp_mutex

pthread_mutex_t GridSlamProcessorThread::hp_mutex

private

Definition at line 114 of file gsp_thread.h.

hypotheses

std::vector<OrientedPoint> GridSlamProcessorThread::hypotheses

private

Definition at line 111 of file gsp_thread.h.

ind_mutex

pthread_mutex_t GridSlamProcessorThread::ind_mutex

private

Definition at line 114 of file gsp_thread.h.

indexes

std::vector<unsigned int> GridSlamProcessorThread::indexes

private

Definition at line 112 of file gsp_thread.h.

input

InputSensorStream* GridSlamProcessorThread::input

private

Definition at line 165 of file gsp_thread.h.

iterations

int GridSlamProcessorThread::iterations

private

Definition at line 138 of file gsp_thread.h.

kernelSize

int GridSlamProcessorThread::kernelSize

private

Definition at line 137 of file gsp_thread.h.

lasamplerange

double GridSlamProcessorThread::lasamplerange

private

Definition at line 146 of file gsp_thread.h.

lasamplestep

double GridSlamProcessorThread::lasamplestep

private

Definition at line 147 of file gsp_thread.h.

linearOdometryReliability

double GridSlamProcessorThread::linearOdometryReliability

private

Definition at line 148 of file gsp_thread.h.

linearUpdate

double GridSlamProcessorThread::linearUpdate

private

Definition at line 160 of file gsp_thread.h.

llsamplerange

double GridSlamProcessorThread::llsamplerange

private

Definition at line 146 of file gsp_thread.h.

llsamplestep

double GridSlamProcessorThread::llsamplestep

private

Definition at line 147 of file gsp_thread.h.

lsigma

double GridSlamProcessorThread::lsigma

private

Definition at line 144 of file gsp_thread.h.

lskip

unsigned int GridSlamProcessorThread::lskip

private

Definition at line 141 of file gsp_thread.h.

lstep

double GridSlamProcessorThread::lstep

private

Definition at line 135 of file gsp_thread.h.

m_argc

unsigned int GridSlamProcessorThread::m_argc

private

Definition at line 175 of file gsp_thread.h.

m_argv

const char* const * GridSlamProcessorThread::m_argv

private

Definition at line 174 of file gsp_thread.h.

mapTimer

unsigned int GridSlamProcessorThread::mapTimer

private

Definition at line 108 of file gsp_thread.h.

mapUpdateTime

unsigned int GridSlamProcessorThread::mapUpdateTime

private

Definition at line 107 of file gsp_thread.h.

maxMove

double GridSlamProcessorThread::maxMove

private

Definition at line 140 of file gsp_thread.h.

maxrange

double GridSlamProcessorThread::maxrange

private

Definition at line 132 of file gsp_thread.h.

maxUrange

double GridSlamProcessorThread::maxUrange

private

Definition at line 133 of file gsp_thread.h.

ogain

double GridSlamProcessorThread::ogain

private

Definition at line 145 of file gsp_thread.h.

onLine

bool GridSlamProcessorThread::onLine

private

Definition at line 168 of file gsp_thread.h.

outfilename

std::string GridSlamProcessorThread::outfilename

private

Definition at line 120 of file gsp_thread.h.

particles

int GridSlamProcessorThread::particles

private

Definition at line 155 of file gsp_thread.h.

plainStream

std::ifstream GridSlamProcessorThread::plainStream

private

Definition at line 166 of file gsp_thread.h.

randseed

unsigned int GridSlamProcessorThread::randseed

private

Definition at line 171 of file gsp_thread.h.

readFromStdin

bool GridSlamProcessorThread::readFromStdin

private

Definition at line 167 of file gsp_thread.h.

regscore

double GridSlamProcessorThread::regscore

private

Definition at line 134 of file gsp_thread.h.

resampleThreshold

double GridSlamProcessorThread::resampleThreshold

private

Definition at line 128 of file gsp_thread.h.

running

bool GridSlamProcessorThread::running

private

Definition at line 116 of file gsp_thread.h.

sensorMap

SensorMap GridSlamProcessorThread::sensorMap

private

Definition at line 163 of file gsp_thread.h.

sigma

double GridSlamProcessorThread::sigma

private

Definition at line 131 of file gsp_thread.h.

skipMatching

bool GridSlamProcessorThread::skipMatching

private

Definition at line 156 of file gsp_thread.h.

srr

double GridSlamProcessorThread::srr

private

Definition at line 153 of file gsp_thread.h.

srt

double GridSlamProcessorThread::srt

private

Definition at line 153 of file gsp_thread.h.

str

double GridSlamProcessorThread::str

private

Definition at line 153 of file gsp_thread.h.

stt

double GridSlamProcessorThread::stt

private

Definition at line 153 of file gsp_thread.h.

weightSums

std::vector<double> GridSlamProcessorThread::weightSums

private

Definition at line 113 of file gsp_thread.h.

xmax

double GridSlamProcessorThread::xmax

private

Definition at line 124 of file gsp_thread.h.

xmin

double GridSlamProcessorThread::xmin

private

Definition at line 122 of file gsp_thread.h.

ymax

double GridSlamProcessorThread::ymax

private

Definition at line 125 of file gsp_thread.h.

ymin

double GridSlamProcessorThread::ymin

private

Definition at line 123 of file gsp_thread.h.

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

• gsp_thread.h
• gsp_thread.cpp