#include <ndt_map_matcher_d2d_2d.h>

Public Member Functions
	NDTMapMatcherD2D_2D (double map_resolution, lslgeneric::NDTMap< PointT > &nd_map, double miniz=0.0, double maxiz=0.0)
void	setSensorPose (Eigen::Affine3d spose)
bool	update (Eigen::Affine3d Tinit, pcl::PointCloud< PointT > &cloud)
bool	updateNoFilt (Eigen::Affine3d &Tinit, pcl::PointCloud< PointT > &cloud)
Public Attributes
lslgeneric::NDTMap< PointT >	map
	da map
Private Attributes
bool	isInit
double	max_z
	values larger than this are removed
double	min_z
	values less than this are removed
double	resolution
	resolution of the map
Eigen::Affine3d	sensor_pose

Detailed Description

template<typename PointT>
class lslgeneric::NDTMapMatcherD2D_2D< PointT >

Definition at line 72 of file ndt_map_matcher_d2d_2d.h.

Constructor & Destructor Documentation

template<typename PointT >

lslgeneric::NDTMapMatcherD2D_2D< PointT >::NDTMapMatcherD2D_2D	(	double	map_resolution,
		lslgeneric::NDTMap< PointT > &	nd_map,
		double	miniz = `0.0`,
		double	maxiz = `0.0`
	)		`[inline]`

Constructor

Parameters:

map_resolution	the desired map resolution of the map that is used for localization (can be equal or lower than given one)
&nd_map	Map used for localization
miniz	The minimum accepted z-value (components lower than this will be disregarded)
maxiz	The maximum accepted z-value

First, lets make our target map match the given map This is done because we want (possibly) lower resolution target map

Definition at line 83 of file ndt_map_matcher_d2d_2d.h.

Member Function Documentation

template<typename PointT >

void lslgeneric::NDTMapMatcherD2D_2D< PointT >::setSensorPose ( Eigen::Affine3d spose ) [inline]

Set sensor pose with respect to base The localization is done in base coordinates!

Definition at line 128 of file ndt_map_matcher_d2d_2d.h.

template<typename PointT >

bool lslgeneric::NDTMapMatcherD2D_2D< PointT >::update	(	Eigen::Affine3d	Tinit,
		pcl::PointCloud< PointT > &	cloud
	)		`[inline]`

Update function NOTE: this function will transform the cloud to base coordinates and does the min-max filtering! Tinit is the global pose expressed as Eigen::Affine3d The result is saved to Tinit!

Set the cloud to sensor frame with respect to base

Min max filter

Create local map

Definition at line 138 of file ndt_map_matcher_d2d_2d.h.

template<typename PointT >