#include <fast_correlative_scan_matcher_2d.h>
Public Member Functions | |
FastCorrelativeScanMatcher2D (const Grid2D &grid, const proto::FastCorrelativeScanMatcherOptions2D &options) | |
FastCorrelativeScanMatcher2D (const FastCorrelativeScanMatcher2D &) | |
bool | Match (const transform::Rigid2d &initial_pose_estimate, const sensor::PointCloud &point_cloud, float min_score, float *score, transform::Rigid2d *pose_estimate) const |
bool | MatchFullSubmap (const sensor::PointCloud &point_cloud, float min_score, float *score, transform::Rigid2d *pose_estimate) const |
FastCorrelativeScanMatcher2D & | operator= (const FastCorrelativeScanMatcher2D &) |
~FastCorrelativeScanMatcher2D () | |
Private Member Functions | |
Candidate2D | BranchAndBound (const std::vector< DiscreteScan2D > &discrete_scans, const SearchParameters &search_parameters, const std::vector< Candidate2D > &candidates, int candidate_depth, float min_score) const |
std::vector< Candidate2D > | ComputeLowestResolutionCandidates (const std::vector< DiscreteScan2D > &discrete_scans, const SearchParameters &search_parameters) const |
std::vector< Candidate2D > | GenerateLowestResolutionCandidates (const SearchParameters &search_parameters) const |
bool | MatchWithSearchParameters (SearchParameters search_parameters, const transform::Rigid2d &initial_pose_estimate, const sensor::PointCloud &point_cloud, float min_score, float *score, transform::Rigid2d *pose_estimate) const |
void | ScoreCandidates (const PrecomputationGrid2D &precomputation_grid, const std::vector< DiscreteScan2D > &discrete_scans, const SearchParameters &search_parameters, std::vector< Candidate2D > *const candidates) const |
Private Attributes | |
MapLimits | limits_ |
const proto::FastCorrelativeScanMatcherOptions2D | options_ |
std::unique_ptr < PrecomputationGridStack2D > | precomputation_grid_stack_ |
Definition at line 112 of file fast_correlative_scan_matcher_2d.h.
cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::FastCorrelativeScanMatcher2D | ( | const Grid2D & | grid, |
const proto::FastCorrelativeScanMatcherOptions2D & | options | ||
) |
Definition at line 188 of file fast_correlative_scan_matcher_2d.cc.
cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::~FastCorrelativeScanMatcher2D | ( | ) |
Definition at line 196 of file fast_correlative_scan_matcher_2d.cc.
cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::FastCorrelativeScanMatcher2D | ( | const FastCorrelativeScanMatcher2D & | ) |
Candidate2D cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::BranchAndBound | ( | const std::vector< DiscreteScan2D > & | discrete_scans, |
const SearchParameters & | search_parameters, | ||
const std::vector< Candidate2D > & | candidates, | ||
int | candidate_depth, | ||
float | min_score | ||
) | const [private] |
Definition at line 335 of file fast_correlative_scan_matcher_2d.cc.
std::vector< Candidate2D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::ComputeLowestResolutionCandidates | ( | const std::vector< DiscreteScan2D > & | discrete_scans, |
const SearchParameters & | search_parameters | ||
) | const [private] |
Definition at line 265 of file fast_correlative_scan_matcher_2d.cc.
std::vector< Candidate2D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::GenerateLowestResolutionCandidates | ( | const SearchParameters & | search_parameters | ) | const [private] |
Definition at line 277 of file fast_correlative_scan_matcher_2d.cc.
bool cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::Match | ( | const transform::Rigid2d & | initial_pose_estimate, |
const sensor::PointCloud & | point_cloud, | ||
float | min_score, | ||
float * | score, | ||
transform::Rigid2d * | pose_estimate | ||
) | const |
Definition at line 198 of file fast_correlative_scan_matcher_2d.cc.
bool cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::MatchFullSubmap | ( | const sensor::PointCloud & | point_cloud, |
float | min_score, | ||
float * | score, | ||
transform::Rigid2d * | pose_estimate | ||
) | const |
Definition at line 210 of file fast_correlative_scan_matcher_2d.cc.
bool cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::MatchWithSearchParameters | ( | SearchParameters | search_parameters, |
const transform::Rigid2d & | initial_pose_estimate, | ||
const sensor::PointCloud & | point_cloud, | ||
float | min_score, | ||
float * | score, | ||
transform::Rigid2d * | pose_estimate | ||
) | const [private] |
Definition at line 227 of file fast_correlative_scan_matcher_2d.cc.
FastCorrelativeScanMatcher2D& cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::operator= | ( | const FastCorrelativeScanMatcher2D & | ) |
void cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::ScoreCandidates | ( | const PrecomputationGrid2D & | precomputation_grid, |
const std::vector< DiscreteScan2D > & | discrete_scans, | ||
const SearchParameters & | search_parameters, | ||
std::vector< Candidate2D > *const | candidates | ||
) | const [private] |
Definition at line 314 of file fast_correlative_scan_matcher_2d.cc.
Definition at line 162 of file fast_correlative_scan_matcher_2d.h.
const proto::FastCorrelativeScanMatcherOptions2D cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::options_ [private] |
Definition at line 161 of file fast_correlative_scan_matcher_2d.h.
std::unique_ptr<PrecomputationGridStack2D> cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::precomputation_grid_stack_ [private] |
Definition at line 163 of file fast_correlative_scan_matcher_2d.h.