#include <slam_toolbox_lifelong.hpp>
Public Member Functions | |
double | computeObjectiveScore (const double &intersect_over_union, const double &area_overlap, const double &reading_overlap, const int &num_constraints, const double &initial_score, const int &num_candidates) const |
LifelongSlamToolbox (ros::NodeHandle &nh) | |
~LifelongSlamToolbox () | |
Public Member Functions inherited from slam_toolbox::SlamToolbox | |
SlamToolbox (ros::NodeHandle &nh) | |
~SlamToolbox () | |
Static Public Member Functions | |
static double | computeAreaOverlapRatio (LocalizedRangeScan *ref_scan, LocalizedRangeScan *candidate_scan) |
static double | computeIntersect (LocalizedRangeScan *s1, LocalizedRangeScan *s2) |
static void | computeIntersectBounds (LocalizedRangeScan *s1, LocalizedRangeScan *s2, double &x_l, double &x_u, double &y_l, double &y_u) |
static double | computeIntersectOverUnion (LocalizedRangeScan *s1, LocalizedRangeScan *s2) |
static double | computeReadingOverlapRatio (LocalizedRangeScan *ref_scan, LocalizedRangeScan *candidate_scan) |
Protected Member Functions | |
void | checkIsNotNormalized (const double &value) |
double | computeScore (LocalizedRangeScan *reference_scan, Vertex< LocalizedRangeScan > *candidate, const double &initial_score, const int &num_candidates) |
ScoredVertices | computeScores (Vertices &near_scans, LocalizedRangeScan *range_scan) |
virtual bool | deserializePoseGraphCallback (slam_toolbox_msgs::DeserializePoseGraph::Request &req, slam_toolbox_msgs::DeserializePoseGraph::Response &resp) override final |
void | evaluateNodeDepreciation (LocalizedRangeScan *range_scan) |
Vertices | FindScansWithinRadius (LocalizedRangeScan *scan, const double &radius) |
virtual void | laserCallback (const sensor_msgs::LaserScan::ConstPtr &scan) override final |
void | removeFromSlamGraph (Vertex< LocalizedRangeScan > *vertex) |
void | updateScoresSlamGraph (const double &score, Vertex< LocalizedRangeScan > *vertex) |
Protected Member Functions inherited from slam_toolbox::SlamToolbox | |
virtual karto::LocalizedRangeScan * | addScan (karto::LaserRangeFinder *laser, const sensor_msgs::LaserScan::ConstPtr &scan, karto::Pose2 &karto_pose) |
karto::LocalizedRangeScan * | addScan (karto::LaserRangeFinder *laser, PosedScan &scanWPose) |
karto::LaserRangeFinder * | getLaser (const sensor_msgs::LaserScan::ConstPtr &scan) |
karto::LocalizedRangeScan * | getLocalizedRangeScan (karto::LaserRangeFinder *laser, const sensor_msgs::LaserScan::ConstPtr &scan, karto::Pose2 &karto_pose) |
bool | isPaused (const PausedApplication &app) |
void | loadPoseGraphByParams (ros::NodeHandle &nh) |
void | loadSerializedPoseGraph (std::unique_ptr< karto::Mapper > &, std::unique_ptr< karto::Dataset > &) |
bool | mapCallback (nav_msgs::GetMap::Request &req, nav_msgs::GetMap::Response &res) |
bool | pauseNewMeasurementsCallback (slam_toolbox_msgs::Pause::Request &req, slam_toolbox_msgs::Pause::Response &resp) |
void | publishPose (const karto::Pose2 &pose, const karto::Matrix3 &cov, const ros::Time &t) |
void | publishTransformLoop (const double &transform_publish_period) |
void | publishVisualizations () |
virtual bool | serializePoseGraphCallback (slam_toolbox_msgs::SerializePoseGraph::Request &req, slam_toolbox_msgs::SerializePoseGraph::Response &resp) |
void | setParams (ros::NodeHandle &nh) |
void | setROSInterfaces (ros::NodeHandle &node) |
void | setSolver (ros::NodeHandle &private_nh_) |
tf2::Stamped< tf2::Transform > | setTransformFromPoses (const karto::Pose2 &pose, const karto::Pose2 &karto_pose, const ros::Time &t, const bool &update_reprocessing_transform) |
bool | shouldProcessScan (const sensor_msgs::LaserScan::ConstPtr &scan, const karto::Pose2 &pose) |
bool | shouldStartWithPoseGraph (std::string &filename, geometry_msgs::Pose2D &pose, bool &start_at_dock) |
bool | updateMap () |
Definition at line 29 of file slam_toolbox_lifelong.hpp.
slam_toolbox::LifelongSlamToolbox::LifelongSlamToolbox | ( | ros::NodeHandle & | nh | ) |
Definition at line 36 of file slam_toolbox_lifelong.cpp.
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Definition at line 33 of file slam_toolbox_lifelong.hpp.
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Definition at line 25 of file slam_toolbox_lifelong.cpp.
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Definition at line 400 of file slam_toolbox_lifelong.cpp.
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Definition at line 364 of file slam_toolbox_lifelong.cpp.
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Definition at line 336 of file slam_toolbox_lifelong.cpp.
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Definition at line 381 of file slam_toolbox_lifelong.cpp.
double slam_toolbox::LifelongSlamToolbox::computeObjectiveScore | ( | const double & | intersect_over_union, |
const double & | area_overlap, | ||
const double & | reading_overlap, | ||
const int & | num_constraints, | ||
const double & | initial_score, | ||
const int & | num_candidates | ||
) | const |
Definition at line 160 of file slam_toolbox_lifelong.cpp.
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Definition at line 418 of file slam_toolbox_lifelong.cpp.
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Definition at line 216 of file slam_toolbox_lifelong.cpp.
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Definition at line 255 of file slam_toolbox_lifelong.cpp.
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finaloverrideprotectedvirtual |
Reimplemented from slam_toolbox::SlamToolbox.
Definition at line 320 of file slam_toolbox_lifelong.cpp.
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Definition at line 99 of file slam_toolbox_lifelong.cpp.
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Definition at line 137 of file slam_toolbox_lifelong.cpp.
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finaloverrideprotectedvirtual |
Implements slam_toolbox::SlamToolbox.
Definition at line 68 of file slam_toolbox_lifelong.cpp.
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Definition at line 296 of file slam_toolbox_lifelong.cpp.
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Definition at line 311 of file slam_toolbox_lifelong.cpp.
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Definition at line 63 of file slam_toolbox_lifelong.hpp.
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Definition at line 62 of file slam_toolbox_lifelong.hpp.
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Definition at line 64 of file slam_toolbox_lifelong.hpp.
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Definition at line 59 of file slam_toolbox_lifelong.hpp.
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Definition at line 65 of file slam_toolbox_lifelong.hpp.
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Definition at line 61 of file slam_toolbox_lifelong.hpp.
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Definition at line 60 of file slam_toolbox_lifelong.hpp.
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Definition at line 58 of file slam_toolbox_lifelong.hpp.