Public Member Functions | Private Member Functions | Private Attributes
karto::MapperGraph Class Reference

#include <Mapper.h>

Inheritance diagram for karto::MapperGraph:
Inheritance graph
[legend]

List of all members.

Public Member Functions

Edge< LocalizedRangeScan > * AddEdge (LocalizedRangeScan *pSourceScan, LocalizedRangeScan *pTargetScan, kt_bool &rIsNewEdge)
void AddEdges (LocalizedRangeScan *pScan, const Matrix3 &rCovariance)
void AddVertex (LocalizedRangeScan *pScan)
LocalizedRangeScanVector FindNearLinkedScans (LocalizedRangeScan *pScan, kt_double maxDistance)
ScanMatcherGetLoopScanMatcher () const
 MapperGraph (Mapper *pMapper, kt_double rangeThreshold)
kt_bool TryCloseLoop (LocalizedRangeScan *pScan, const Name &rSensorName)
virtual ~MapperGraph ()

Private Member Functions

Pose2 ComputeWeightedMean (const Pose2Vector &rMeans, const std::vector< Matrix3 > &rCovariances) const
void CorrectPoses ()
std::vector
< LocalizedRangeScanVector
FindNearChains (LocalizedRangeScan *pScan)
LocalizedRangeScanVector FindPossibleLoopClosure (LocalizedRangeScan *pScan, const Name &rSensorName, kt_int32u &rStartNum)
LocalizedRangeScanGetClosestScanToPose (const LocalizedRangeScanVector &rScans, const Pose2 &rPose) const
Vertex< LocalizedRangeScan > * GetVertex (LocalizedRangeScan *pScan)
void LinkChainToScan (const LocalizedRangeScanVector &rChain, LocalizedRangeScan *pScan, const Pose2 &rMean, const Matrix3 &rCovariance)
void LinkNearChains (LocalizedRangeScan *pScan, Pose2Vector &rMeans, std::vector< Matrix3 > &rCovariances)
void LinkScans (LocalizedRangeScan *pFromScan, LocalizedRangeScan *pToScan, const Pose2 &rMean, const Matrix3 &rCovariance)

Private Attributes

ScanMatcherm_pLoopScanMatcher
Mapperm_pMapper
GraphTraversal
< LocalizedRangeScan > * 
m_pTraversal

Detailed Description

Graph for graph SLAM algorithm

Definition at line 548 of file Mapper.h.


Constructor & Destructor Documentation

karto::MapperGraph::MapperGraph ( Mapper pMapper,
kt_double  rangeThreshold 
)

Graph for graph SLAM

Parameters:
pMapper
rangeThreshold

Definition at line 1125 of file Mapper.cpp.

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
rIsNewEdgeset 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
rCovarianceuncertainty of match

Definition at line 1160 of file Mapper.cpp.

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.

Optimizes scan poses

Definition at line 1600 of file Mapper.cpp.

Find chains of scans that are close to given scan

Parameters:
pScan
Returns:
chains of scans

Definition at line 1398 of file Mapper.cpp.

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.

Gets the graph's scan matcher

Returns:
scan matcher

Definition at line 607 of file Mapper.h.

Gets the vertex associated with the given scan

Parameters:
pScan
Returns:
vertex of scan

Definition at line 618 of file Mapper.h.

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

Scan matcher for loop closures

Definition at line 703 of file Mapper.h.

Mapper of this graph

Definition at line 698 of file Mapper.h.

Traversal algorithm to find near linked scans

Definition at line 708 of file Mapper.h.


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


open_karto
Author(s):
autogenerated on Thu Jun 6 2019 21:02:57