PFslam Class Reference

The PFslam class provides Rao-Blackwellized Particle filter SLAM from MRPT libraries. More...

#include <mrpt_rbpf_slam.h>

Inheritance diagram for PFslam:

List of all members.

Public Member Functions
void	init3Dwindow ()
void	init_slam ()
	initialize the SLAM
void	observation (CSensoryFramePtr _sf, CObservationOdometryPtr _odometry)
	calculate the actions from odometry model for current observation
	PFslam ()
	constructor
void	read_iniFile (std::string ini_filename)
	read ini file
void	read_rawlog (std::vector< std::pair< CActionCollection, CSensoryFrame >> &data, std::string rawlog_filename)
	read pairs of actions and observations from rawlog file
void	run3Dwindow ()
virtual	~PFslam ()
	destructor
Protected Attributes
CActionCollectionPtr	action
	actions
bool	CAMERA_3DSCENE_FOLLOWS_ROBOT
CPose3DPDFParticles	curPDF
	current robot pose
CMetricMapBuilderRBPF *	mapBuilder
	map builder
const CMultiMetricMap *	metric_map_
	receive map after iteration of SLAM to metric map
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
int	PROGRESS_WINDOW_HEIGHT
int	PROGRESS_WINDOW_WIDTH
CMetricMapBuilderRBPF::TConstructionOptions	rbpfMappingOptions
	options for SLAM from ini file
CSensoryFramePtr	sf
	observations
bool	SHOW_PROGRESS_IN_WINDOW
int	SHOW_PROGRESS_IN_WINDOW_DELAY_MS
mrpt::system::TTimeStamp	timeLastUpdate_
	last update of the pose and map
bool	use_motion_model_default_options_
	used default odom_params
mrpt::gui::CDisplayWindow3DPtr	win3D
	MRPT window.

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Detailed Description

The PFslam class provides Rao-Blackwellized Particle filter SLAM from MRPT libraries.

Definition at line 70 of file mrpt_rbpf_slam.h.

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Constructor & Destructor Documentation

PFslam::PFslam

(

)

constructor

Definition at line 13 of file mrpt_rbpf_slam.cpp.

PFslam::~PFslam

(

)

[virtual]

destructor

Definition at line 39 of file mrpt_rbpf_slam.cpp.

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Member Function Documentation

void PFslam::init3Dwindow

(

)

Definition at line 145 of file mrpt_rbpf_slam.cpp.

void PFslam::init_slam

(

)

initialize the SLAM

Definition at line 128 of file mrpt_rbpf_slam.cpp.

void PFslam::observation	(	CSensoryFramePtr	_sf,
		CObservationOdometryPtr	_odometry
	)

calculate the actions from odometry model for current observation

Parameters:

_sf	current observation
_odometry	raw odometry

Definition at line 103 of file mrpt_rbpf_slam.cpp.

void PFslam::read_iniFile

(

std::string

ini_filename

)

read ini file

Parameters:

ini_filename

the name of the ini file to read

Definition at line 62 of file mrpt_rbpf_slam.cpp.

void PFslam::read_rawlog	(	std::vector< std::pair< CActionCollection, CSensoryFrame >> &	data,
		std::string	rawlog_filename
	)

read pairs of actions and observations from rawlog file

Parameters:

data	vector of pairs of actions and observations
rawlog_filename	the name of rawlog file to read

Definition at line 77 of file mrpt_rbpf_slam.cpp.

void PFslam::run3Dwindow

(

)

Definition at line 160 of file mrpt_rbpf_slam.cpp.

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Member Data Documentation

CActionCollectionPtr PFslam::action [protected]

actions

Definition at line 116 of file mrpt_rbpf_slam.h.

bool PFslam::CAMERA_3DSCENE_FOLLOWS_ROBOT [protected]

Definition at line 131 of file mrpt_rbpf_slam.h.

CPose3DPDFParticles PFslam::curPDF [protected]

current robot pose

Definition at line 128 of file mrpt_rbpf_slam.h.

CMetricMapBuilderRBPF* PFslam::mapBuilder [protected]

map builder

Definition at line 115 of file mrpt_rbpf_slam.h.

const CMultiMetricMap* PFslam::metric_map_ [protected]

receive map after iteration of SLAM to metric map

Definition at line 127 of file mrpt_rbpf_slam.h.

CActionRobotMovement2D::TMotionModelOptions PFslam::motion_model_default_options_ [protected]

used if there are is not odom

Definition at line 121 of file mrpt_rbpf_slam.h.

CActionRobotMovement2D::TMotionModelOptions PFslam::motion_model_options_ [protected]

used with odom value motion noise

Definition at line 122 of file mrpt_rbpf_slam.h.

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

last observation of odometry

Definition at line 119 of file mrpt_rbpf_slam.h.

int PFslam::PROGRESS_WINDOW_HEIGHT [protected]

Definition at line 134 of file mrpt_rbpf_slam.h.

int PFslam::PROGRESS_WINDOW_WIDTH [protected]

Definition at line 134 of file mrpt_rbpf_slam.h.

CMetricMapBuilderRBPF::TConstructionOptions PFslam::rbpfMappingOptions [protected]

options for SLAM from ini file

Definition at line 124 of file mrpt_rbpf_slam.h.

CSensoryFramePtr PFslam::sf [protected]

observations

Definition at line 117 of file mrpt_rbpf_slam.h.

bool PFslam::SHOW_PROGRESS_IN_WINDOW [protected]

Definition at line 132 of file mrpt_rbpf_slam.h.

int PFslam::SHOW_PROGRESS_IN_WINDOW_DELAY_MS [protected]

Definition at line 133 of file mrpt_rbpf_slam.h.

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

last update of the pose and map

Definition at line 125 of file mrpt_rbpf_slam.h.

bool PFslam::use_motion_model_default_options_ [protected]

used default odom_params

Definition at line 120 of file mrpt_rbpf_slam.h.

mrpt::gui::CDisplayWindow3DPtr PFslam::win3D [protected]

MRPT window.

Definition at line 130 of file mrpt_rbpf_slam.h.

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

• mrpt_rbpf_slam.h
• mrpt_rbpf_slam.cpp