EKFslam Class Reference

The EKFslam class provides EKF SLAM 2d from MRPT libraries. More...

#include <mrpt_ekf_slam_2d.h>

Inheritance diagram for EKFslam:

List of all members.

Public Member Functions
	EKFslam ()
	constructor
void	init3Dwindow ()
	init 3D window from mrpt lib
void	landmark_to_3d (const CRangeBearingKFSLAM2D::KFArray_FEAT &lm, TPoint3D &p)
	convert landmark to 3d point
void	observation (CSensoryFrame::Ptr _sf, CObservationOdometry::Ptr _odometry)
	calculate the actions from odometry model for current observation
void	read_iniFile (std::string ini_filename)
	read ini file
void	run3Dwindow ()
	run 3D window update from mrpt lib
virtual	~EKFslam ()
	destructor
Protected Attributes
CActionCollection::Ptr	action
	actions
bool	CAMERA_3DSCENE_FOLLOWS_ROBOT
CMatrixDouble	fullCov_
	full covariance matrix
CVectorDouble	fullState_
	full state vector
std::map< unsigned int, CLandmark::TLandmarkID >	LM_IDs_
	vector of the landmarks ID
std::vector< mrpt::math::TPoint2D >	LMs_
	vector of the landmarks
CRangeBearingKFSLAM2D	mapping
	EKF slam 2d class.
vector< TPose3D >	meanPath
CActionRobotMovement2D::TMotionModelOptions	motion_model_default_options_
	used if there are is not odom
CActionRobotMovement2D::TMotionModelOptions	motion_model_options_
	used with odom value motion noise
mrpt::poses::CPose2D	odomLastObservation_
	last observation of odometry
CPosePDFGaussian	robotPose_
	current robot pose
CSensoryFrame::Ptr	sf
	observations
bool	SHOW_3D_LIVE
mrpt::system::TTimeStamp	timeLastUpdate_
	last update of the pose and map
bool	use_motion_model_default_options_
	used default odom_params
mrpt::gui::CDisplayWindow3D::Ptr	win3d
	MRPT window.

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Detailed Description

The EKFslam class provides EKF SLAM 2d from MRPT libraries.

Definition at line 58 of file mrpt_ekf_slam_2d.h.

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Constructor & Destructor Documentation

EKFslam::EKFslam

(

)

constructor

Definition at line 12 of file mrpt_ekf_slam_2d.cpp.

EKFslam::~EKFslam

(

)

[virtual]

destructor

Definition at line 36 of file mrpt_ekf_slam_2d.cpp.

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Member Function Documentation

void EKFslam::init3Dwindow

(

)

init 3D window from mrpt lib

Definition at line 92 of file mrpt_ekf_slam_2d.cpp.

void EKFslam::landmark_to_3d	(	const CRangeBearingKFSLAM2D::KFArray_FEAT &	lm,
		TPoint3D &	p
	)

convert landmark to 3d point

Definition at line 189 of file mrpt_ekf_slam_2d.cpp.

void EKFslam::observation	(	CSensoryFrame::Ptr	_sf,
		CObservationOdometry::Ptr	_odometry
	)

calculate the actions from odometry model for current observation

Parameters:

_sf	current observation
_odometry	raw odometry

Definition at line 67 of file mrpt_ekf_slam_2d.cpp.

void EKFslam::read_iniFile

(

std::string

ini_filename

)

read ini file

Parameters:

ini_filename

the name of the ini file to read

Definition at line 40 of file mrpt_ekf_slam_2d.cpp.

void EKFslam::run3Dwindow

(

)

run 3D window update from mrpt lib

Definition at line 102 of file mrpt_ekf_slam_2d.cpp.

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Member Data Documentation

CActionCollection::Ptr EKFslam::action [protected]

actions

Definition at line 100 of file mrpt_ekf_slam_2d.h.

bool EKFslam::CAMERA_3DSCENE_FOLLOWS_ROBOT [protected]

Definition at line 116 of file mrpt_ekf_slam_2d.h.

CMatrixDouble EKFslam::fullCov_ [protected]

full covariance matrix

Definition at line 111 of file mrpt_ekf_slam_2d.h.

CVectorDouble EKFslam::fullState_ [protected]

full state vector

Definition at line 112 of file mrpt_ekf_slam_2d.h.

std::map<unsigned int, CLandmark::TLandmarkID> EKFslam::LM_IDs_ [protected]

vector of the landmarks ID

Definition at line 110 of file mrpt_ekf_slam_2d.h.

std::vector<mrpt::math::TPoint2D> EKFslam::LMs_ [protected]

vector of the landmarks

Definition at line 109 of file mrpt_ekf_slam_2d.h.

CRangeBearingKFSLAM2D EKFslam::mapping [protected]

EKF slam 2d class.

Definition at line 96 of file mrpt_ekf_slam_2d.h.

vector<TPose3D> EKFslam::meanPath [protected]

Definition at line 117 of file mrpt_ekf_slam_2d.h.

CActionRobotMovement2D::TMotionModelOptions EKFslam::motion_model_default_options_ [protected]

used if there are is not odom

Definition at line 105 of file mrpt_ekf_slam_2d.h.

CActionRobotMovement2D::TMotionModelOptions EKFslam::motion_model_options_ [protected]

used with odom value motion noise

Definition at line 106 of file mrpt_ekf_slam_2d.h.

mrpt::poses::CPose2D EKFslam::odomLastObservation_ [protected]

last observation of odometry

Definition at line 103 of file mrpt_ekf_slam_2d.h.

CPosePDFGaussian EKFslam::robotPose_ [protected]

current robot pose

Definition at line 108 of file mrpt_ekf_slam_2d.h.

CSensoryFrame::Ptr EKFslam::sf [protected]

observations

Definition at line 101 of file mrpt_ekf_slam_2d.h.

bool EKFslam::SHOW_3D_LIVE [protected]

Definition at line 115 of file mrpt_ekf_slam_2d.h.

mrpt::system::TTimeStamp EKFslam::timeLastUpdate_ [protected]

last update of the pose and map

Definition at line 98 of file mrpt_ekf_slam_2d.h.

bool EKFslam::use_motion_model_default_options_ [protected]

used default odom_params

Definition at line 104 of file mrpt_ekf_slam_2d.h.

mrpt::gui::CDisplayWindow3D::Ptr EKFslam::win3d [protected]

MRPT window.

Definition at line 114 of file mrpt_ekf_slam_2d.h.

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The documentation for this class was generated from the following files:

• mrpt_ekf_slam_2d.h
• mrpt_ekf_slam_2d.cpp