Functions
karto_scan_matcher_python Namespace Reference

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

Definition at line 68 of file __init__.py.

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.

Definition at line 61 of file __init__.py.

Internal.

Definition at line 50 of file __init__.py.



karto_scan_matcher
Author(s): Bhaskara Marthi
autogenerated on Thu Jan 2 2014 12:02:42