Functions
def	convert_ref_scan
def	convert_ref_scans
def	make_matcher
	Public interface.
def	match_scans
def	pose_from_tuple
def	scan_from_ros
	Internal.

Function Documentation

def karto_scan_matcher_python.convert_ref_scan ( ref_scan )

Definition at line 68 of file __init__.py.

def karto_scan_matcher_python.convert_ref_scans ( scans )

Definition at line 71 of file __init__.py.

def karto_scan_matcher_python.make_matcher	(	init_scan,
		laser_pose,
		search_size,
		search_resolution
	)

Public interface.

@param init_scan: Initial scan used only to read parameters of laser scanner
@type init_scan: sensor_msgs.msg.LaserScan
@param laser_pose: Pose of laser wrt base frame
@type laser_pose: Tuple of form (x, y, theta)
@param search_size: Radius of square to do matching in (meters)
@param search_resolution: Resolution of grid search (meters)
@return Opaque object of type KartoScanMatcher, which can be used as an argument to repeated calls to match_scans.

Definition at line 13 of file __init__.py.

def karto_scan_matcher_python.match_scans	(	matcher,
		scan,
		init_pose,
		ref_scans
	)

@param matcher: Object returned by make_matcher
@param scan: Scan to match
@type scan: sensor_msgs.msg.LaserScan
@param init_pose: Initial pose estimate
@type init_pose: Tuple of form (x, y, theta)
@param ref_scans: Reference scans
@type ref_scans: Vector of tuples ((x, y, theta), sensor_msgs.msg.LaserScan)
@return Tuple (opt_pose, response)

Definition at line 28 of file __init__.py.

def karto_scan_matcher_python.pose_from_tuple ( p )

Definition at line 61 of file __init__.py.

def karto_scan_matcher_python.scan_from_ros ( s )

Internal.

Definition at line 50 of file __init__.py.

Functions

Function Documentation