karto::GridIndexLookup< T > Class Template Reference

#include <GridIndexLookup.h>

Public Member Functions
void	ComputeOffsets (LocalizedLaserScan *pScan, kt_double angleCenter, kt_double angleOffset, kt_double angleResolution)
const List< kt_double > &	GetAngles () const
const LookupArray *	GetLookupArray (kt_int32u index) const
	GridIndexLookup (Grid< T > *pGrid)
virtual	~GridIndexLookup ()

Private Member Functions
void	ComputeOffsets (kt_int32u angleIndex, kt_double angle, const Pose2List &rLocalPoints)
void	DestroyArrays ()
void	SetSize (kt_int32u size)

Private Attributes
List< kt_double >	m_Angles
kt_int32u	m_Capacity
Grid< T > *	m_pGrid
LookupArray **	m_ppLookupArray
kt_int32u	m_Size

Detailed Description

template<typename T>
class karto::GridIndexLookup< T >

Create lookup tables for point readings at varying angles in grid. For each angle, grid indexes are calculated for each point reading. This is to speed up finding best angle/position for a localized laser scan

Used heavily in mapper and localizer.

In the localizer, this is a huge speed up for calculating possible positions. For each particle, a probability is calculated. The laser scan is the same, but all grid indexes at all possible angles are calculated. So when calculating the particle probability at a specific angle, the index table is used to look up probabilities in the probability grid.

Definition at line 136 of file GridIndexLookup.h.

Constructor & Destructor Documentation

template<typename T>

karto::GridIndexLookup< T >::GridIndexLookup ( Grid< T > *  pGrid )

inline

Construct a GridIndexLookup with a grid

Parameters

pGrid

grid pointer

Definition at line 143 of file GridIndexLookup.h.

template<typename T>

virtual karto::GridIndexLookup< T >::~GridIndexLookup ( )

inlinevirtual

Destructor

Definition at line 154 of file GridIndexLookup.h.

Member Function Documentation

template<typename T>

void karto::GridIndexLookup< T >::ComputeOffsets ( LocalizedLaserScan *  pScan, kt_double  angleCenter, kt_double  angleOffset, kt_double  angleResolution  )

inline

Computes lookup table of the points of the given scan for the given angular space

Parameters

pScan	scan
angleCenter	angle at center
angleOffset	computes lookup arrays for the angles within this offset around angleCenter
angleResolution	how fine a granularity to compute lookup arrays in the angular space

Definition at line 188 of file GridIndexLookup.h.

template<typename T>

void karto::GridIndexLookup< T >::ComputeOffsets ( kt_int32u  angleIndex, kt_double  angle, const Pose2List &  rLocalPoints  )

inlineprivate

Computes lookup value of points for given angle

Parameters

angleIndex	angle index
angle	angle
rLocalPoints	points in local coordinates

Definition at line 231 of file GridIndexLookup.h.

template<typename T>

void karto::GridIndexLookup< T >::DestroyArrays ( )

inlineprivate

Delete the arrays

Definition at line 301 of file GridIndexLookup.h.

template<typename T>

const List<kt_double>& karto::GridIndexLookup< T >::GetAngles ( ) const

inline

Gets list of angles

Returns

list of angles

Definition at line 176 of file GridIndexLookup.h.

template<typename T>

const LookupArray* karto::GridIndexLookup< T >::GetLookupArray ( kt_int32u  index ) const

inline

Gets the lookup array for a particular angle index

Parameters

index

angle index

Returns

lookup array

Definition at line 165 of file GridIndexLookup.h.

template<typename T>

void karto::GridIndexLookup< T >::SetSize ( kt_int32u  size )

inlineprivate

Sets size of lookup table (resize if not big enough)

Parameters

size

new size

Definition at line 274 of file GridIndexLookup.h.

Member Data Documentation

template<typename T>

List<kt_double> karto::GridIndexLookup< T >::m_Angles

private

Definition at line 321 of file GridIndexLookup.h.

template<typename T>

kt_int32u karto::GridIndexLookup< T >::m_Capacity

private

Definition at line 315 of file GridIndexLookup.h.

template<typename T>

Grid<T>* karto::GridIndexLookup< T >::m_pGrid

private

Definition at line 313 of file GridIndexLookup.h.

template<typename T>

LookupArray** karto::GridIndexLookup< T >::m_ppLookupArray

private

Definition at line 318 of file GridIndexLookup.h.

template<typename T>

kt_int32u karto::GridIndexLookup< T >::m_Size

private

Definition at line 316 of file GridIndexLookup.h.

---

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

• GridIndexLookup.h