#include <Mapper.h>
Detailed Description
Constructor & Destructor Documentation
| karto::MapperGraph::MapperGraph | ( | Mapper * | pMapper, |
| kt_double | rangeThreshold | ||
| ) |
| karto::MapperGraph::~MapperGraph | ( | ) | [virtual] |
Destructor
Definition at line 1136 of file Mapper.cpp.
Member Function Documentation
| Edge< LocalizedRangeScan > * karto::MapperGraph::AddEdge | ( | LocalizedRangeScan * | pSourceScan, |
| LocalizedRangeScan * | pTargetScan, | ||
| kt_bool & | rIsNewEdge | ||
| ) |
Creates an edge between the source scan vertex and the target scan vertex if it does not already exist; otherwise return the existing edge
- Parameters:
-
pSourceScan pTargetScan rIsNewEdge set to true if the edge is new
- Returns:
- edge between source and target scan vertices
Definition at line 1313 of file Mapper.cpp.
| void karto::MapperGraph::AddEdges | ( | LocalizedRangeScan * | pScan, |
| const Matrix3 & | rCovariance | ||
| ) |
Link scan to last scan and nearby chains of scans
- Parameters:
-
pScan rCovariance uncertainty of match
Definition at line 1160 of file Mapper.cpp.
| void karto::MapperGraph::AddVertex | ( | LocalizedRangeScan * | pScan | ) |
Adds a vertex representing the given scan to the graph
- Parameters:
-
pScan
Definition at line 1145 of file Mapper.cpp.
| Pose2 karto::MapperGraph::ComputeWeightedMean | ( | const Pose2Vector & | rMeans, |
| const std::vector< Matrix3 > & | rCovariances | ||
| ) | const [private] |
Compute mean of poses weighted by covariances
- Parameters:
-
rMeans rCovariances
- Returns:
- weighted mean
Definition at line 1506 of file Mapper.cpp.
| void karto::MapperGraph::CorrectPoses | ( | ) | [private] |
Optimizes scan poses
Definition at line 1600 of file Mapper.cpp.
| std::vector< LocalizedRangeScanVector > karto::MapperGraph::FindNearChains | ( | LocalizedRangeScan * | pScan | ) | [private] |
Find chains of scans that are close to given scan
- Parameters:
-
pScan
- Returns:
- chains of scans
Definition at line 1398 of file Mapper.cpp.
| LocalizedRangeScanVector karto::MapperGraph::FindNearLinkedScans | ( | LocalizedRangeScan * | pScan, |
| kt_double | maxDistance | ||
| ) |
Find "nearby" (no further than given distance away) scans through graph links
- Parameters:
-
pScan maxDistance
Definition at line 1497 of file Mapper.cpp.
| LocalizedRangeScanVector karto::MapperGraph::FindPossibleLoopClosure | ( | LocalizedRangeScan * | pScan, |
| const Name & | rSensorName, | ||
| kt_int32u & | rStartNum | ||
| ) | [private] |
Tries to find a chain of scan from the given device starting at the given scan index that could possibly close a loop with the given scan
- Parameters:
-
pScan rSensorName rStartNum
- Returns:
- chain that can possibly close a loop with given scan
Definition at line 1550 of file Mapper.cpp.
| LocalizedRangeScan * karto::MapperGraph::GetClosestScanToPose | ( | const LocalizedRangeScanVector & | rScans, |
| const Pose2 & | rPose | ||
| ) | const [private] |
Finds the closest scan in the vector to the given pose
- Parameters:
-
rScans rPose
Definition at line 1292 of file Mapper.cpp.
| ScanMatcher* karto::MapperGraph::GetLoopScanMatcher | ( | ) | const [inline] |
| Vertex<LocalizedRangeScan>* karto::MapperGraph::GetVertex | ( | LocalizedRangeScan * | pScan | ) | [inline, private] |
| void karto::MapperGraph::LinkChainToScan | ( | const LocalizedRangeScanVector & | rChain, |
| LocalizedRangeScan * | pScan, | ||
| const Pose2 & | rMean, | ||
| const Matrix3 & | rCovariance | ||
| ) | [private] |
Link the chain of scans to the given scan by finding the closest scan in the chain to the given scan
- Parameters:
-
rChain pScan rMean rCovariance
Definition at line 1381 of file Mapper.cpp.
| void karto::MapperGraph::LinkNearChains | ( | LocalizedRangeScan * | pScan, |
| Pose2Vector & | rMeans, | ||
| std::vector< Matrix3 > & | rCovariances | ||
| ) | [private] |
Find nearby chains of scans and link them to scan if response is high enough
- Parameters:
-
pScan rMeans rCovariances
Definition at line 1358 of file Mapper.cpp.
| void karto::MapperGraph::LinkScans | ( | LocalizedRangeScan * | pFromScan, |
| LocalizedRangeScan * | pToScan, | ||
| const Pose2 & | rMean, | ||
| const Matrix3 & | rCovariance | ||
| ) | [private] |
Adds an edge between the two scans and labels the edge with the given mean and covariance
- Parameters:
-
pFromScan pToScan rMean rCovariance
Definition at line 1341 of file Mapper.cpp.
| kt_bool karto::MapperGraph::TryCloseLoop | ( | LocalizedRangeScan * | pScan, |
| const Name & | rSensorName | ||
| ) |
Tries to close a loop using the given scan with the scans from the given device
- Parameters:
-
pScan rSensorName
Definition at line 1226 of file Mapper.cpp.
Member Data Documentation
Mapper* karto::MapperGraph::m_pMapper [private] |
The documentation for this class was generated from the following files: