hectorslam::ScanMatcher< ConcreteOccGridMapUtil > Class Template Reference

#include <ScanMatcher.h>

Public Member Functions
Eigen::Vector3f	matchData (const Eigen::Vector3f &beginEstimateWorld, ConcreteOccGridMapUtil &gridMapUtil, const DataContainer &dataContainer, Eigen::Matrix3f &covMatrix, int maxIterations)
	ScanMatcher (DrawInterface *drawInterfaceIn=0, HectorDebugInfoInterface *debugInterfaceIn=0)
	~ScanMatcher ()

Protected Member Functions
void	drawScan (const Eigen::Vector3f &pose, const ConcreteOccGridMapUtil &gridMapUtil, const DataContainer &dataContainer)
bool	estimateTransformationLogLh (Eigen::Vector3f &estimate, ConcreteOccGridMapUtil &gridMapUtil, const DataContainer &dataPoints)
void	updateEstimatedPose (Eigen::Vector3f &estimate, const Eigen::Vector3f &change)

Protected Attributes
HectorDebugInfoInterface *	debugInterface
DrawInterface *	drawInterface
Eigen::Vector3f	dTr
Eigen::Matrix3f	H

Detailed Description

template<typename ConcreteOccGridMapUtil>
class hectorslam::ScanMatcher< ConcreteOccGridMapUtil >

Definition at line 42 of file ScanMatcher.h.

Constructor & Destructor Documentation

template<typename ConcreteOccGridMapUtil>

hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::ScanMatcher ( DrawInterface *  drawInterfaceIn = 0, HectorDebugInfoInterface *  debugInterfaceIn = 0  )

inline

Definition at line 46 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::~ScanMatcher ( )

inline

Definition at line 51 of file ScanMatcher.h.

Member Function Documentation

template<typename ConcreteOccGridMapUtil>

void hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::drawScan ( const Eigen::Vector3f &  pose, const ConcreteOccGridMapUtil &  gridMapUtil, const DataContainer &  dataContainer  )

inlineprotected

Definition at line 228 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

bool hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::estimateTransformationLogLh ( Eigen::Vector3f &  estimate, ConcreteOccGridMapUtil &  gridMapUtil, const DataContainer &  dataPoints  )

inlineprotected

Definition at line 194 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

Eigen::Vector3f hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::matchData ( const Eigen::Vector3f &  beginEstimateWorld, ConcreteOccGridMapUtil &  gridMapUtil, const DataContainer &  dataContainer, Eigen::Matrix3f &  covMatrix, int  maxIterations  )

inline

Definition at line 54 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

void hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::updateEstimatedPose ( Eigen::Vector3f &  estimate, const Eigen::Vector3f &  change  )

inlineprotected

Definition at line 223 of file ScanMatcher.h.

Member Data Documentation

template<typename ConcreteOccGridMapUtil>

HectorDebugInfoInterface* hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::debugInterface

protected

Definition at line 246 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

DrawInterface* hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::drawInterface

protected

Definition at line 245 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

Eigen::Vector3f hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::dTr

protected

Definition at line 242 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

Eigen::Matrix3f hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::H

protected

Definition at line 243 of file ScanMatcher.h.

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

• ScanMatcher.h