The TinySLAM access point. SLAM users are supposed to work with it. More...

#include <tiny_fascade.h>

Inheritance diagram for TinySlamFascade:

Public Member Functions
void	add_scan_matcher_observer (ScanMatcherObsPtr obs)
virtual void	handle_laser_scan (TransformedLaserScan &scan)
void	remove_scan_matcher_observer (ScanMatcherObsPtr obs)
void	set_viewer (std::shared_ptr< RvizGridViewer > viewer)
	TinySlamFascade (std::shared_ptr< GridCellStrategy > gcs, const TinyWorldParams &params, const GridMapParams &init_map_params, bool skip_max_vals)
Private Attributes
std::shared_ptr< RvizGridViewer >	_viewer
std::unique_ptr< TinyWorld >	_world

Detailed Description

The TinySLAM access point. SLAM users are supposed to work with it.

Responsibilities:
Handles data came from a scanner and locates a viewer.
Connects internal frameworks components to a single tinySLAM method (the fascade pattern is applied).

Definition at line 21 of file tiny_fascade.h.

Constructor & Destructor Documentation

TinySlamFascade::TinySlamFascade	(	std::shared_ptr< GridCellStrategy >	gcs,
		const TinyWorldParams &	params,
		const GridMapParams &	init_map_params,
		bool	skip_max_vals
	)		`[inline]`

Initializes the tinySLAM method.

Parameters:

[in]	gcs	- a configuration of cells in a map (a cell strategy).
[in]	params	- the tinySLAM parameters (see TinyWorldParams).
[in]	skip_max_vals	- whether the values that exceed the max one specific to the laser scanner should be skipped.

Definition at line 34 of file tiny_fascade.h.

Member Function Documentation

void TinySlamFascade::add_scan_matcher_observer ( ScanMatcherObsPtr obs ) [inline]

Registers a scan matcher observer.

Parameters:

[in] obs - a new scanner matcher observer.

Definition at line 69 of file tiny_fascade.h.

virtual void TinySlamFascade::handle_laser_scan ( TransformedLaserScan & scan ) [inline, virtual]

Updates the map and the robot pose with scan data.
The update is done according to a prediction-correction approach. (the odometry is used for a prediction, the laser scan - for a correction).

Parameters:

[in] scan - data from the robot's scanners (odnometry + laser scan).

Implements LaserScanObserver.

Definition at line 55 of file tiny_fascade.h.

void TinySlamFascade::remove_scan_matcher_observer ( ScanMatcherObsPtr obs ) [inline]

Unregisters a scan matcher observer.

Parameters:

[in] obs - the scanner matcher observer to be removed.

Definition at line 77 of file tiny_fascade.h.

void TinySlamFascade::set_viewer ( std::shared_ptr< RvizGridViewer > viewer ) [inline]

Sets a viewer component that is notified by a pose and map updates.

Parameters:

[in] viewer - a new value of the data member viewer.

Definition at line 45 of file tiny_fascade.h.

Member Data Documentation

std::shared_ptr<RvizGridViewer> TinySlamFascade::_viewer [private]

Definition at line 84 of file tiny_fascade.h.

std::unique_ptr<TinyWorld> TinySlamFascade::_world [private]

Definition at line 83 of file tiny_fascade.h.

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

tiny_fascade.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation