An implementation of the scan cost function described in the original tinySLAM paper. More...

Inheritance diagram for TinyScanCostEstimator:

Public Member Functions
virtual double	estimate_scan_cost (const RobotState &pose, const TransformedLaserScan &scan, const GridMap &map, double min_cost) override

Detailed Description

An implementation of the scan cost function described in the original tinySLAM paper.

This class presents one method to calculate a numeric value of a laser scan. This method is defined in the paper.

Definition at line 13 of file tiny_scan_cost_estimator.h.

Member Function Documentation

virtual double TinyScanCostEstimator::estimate_scan_cost	(	const RobotState &	pose,
		const TransformedLaserScan &	scan,
		const GridMap &	map,
		double	min_cost
	)		`[inline, override, virtual]`

Calculates a discrepancy between a given scan and a map using the approach from the tinySLAM paper.

Parameters:

[in]	pose	- the robot pose in the space.
[in]	scan	- data from the robot's scanner.
[in]	map	- the environment map built on the previous steps.
[in]	min_cost	- the minimum found cost of the scan at the moment.

Definition at line 25 of file tiny_scan_cost_estimator.h.

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