#include <OpenMapper.h>

Inheritance diagram for karto::MapperGraph:

Public Member Functions
Edge< LocalizedObjectPtr > *	AddEdge (LocalizedObject pSourceObject, LocalizedObject pTargetObject, kt_bool &rIsNewEdge)

void	AddEdges (LocalizedObject *pObject)

void	AddEdges (LocalizedLaserScan *pScan, const Matrix3 &rCovariance)

void	AddVertex (LocalizedObject *pObject)

LocalizedLaserScanList	FindNearLinkedScans (LocalizedLaserScan *pScan, kt_double maxDistance)

LocalizedLaserScanList	FindOverlappingScans (LocalizedLaserScan *pScan)

ScanMatcher *	GetLoopScanMatcher () const

void	LinkChainToScan (const LocalizedLaserScanList &rChain, LocalizedLaserScan *pScan, const Pose2 &rMean, const Matrix3 &rCovariance)

	MapperGraph (OpenMapper *pOpenMapper, kt_double rangeThreshold)

kt_bool	TryCloseLoop (LocalizedLaserScan *pScan, const Identifier &rSensorName)

virtual	~MapperGraph ()

Public Member Functions inherited from karto::Graph< LocalizedObjectPtr >
void	AddEdge (Edge< LocalizedObjectPtr > *pEdge)

void	AddVertex (Vertex< LocalizedObjectPtr > *pVertex)

void	Clear ()

const EdgeList &	GetEdges () const

const VertexList &	GetVertices () const

	Graph ()

virtual	~Graph ()

Private Member Functions
Pose2	ComputeWeightedMean (const Pose2List &rMeans, const List< Matrix3 > &rCovariances) const

void	CorrectPoses ()

List< LocalizedLaserScanList >	FindNearChains (LocalizedLaserScan *pScan)

LocalizedLaserScanList	FindPossibleLoopClosure (LocalizedLaserScan *pScan, const Identifier &rSensorName, kt_int32u &rStartScanIndex)

LocalizedLaserScan *	GetClosestScanToPose (const LocalizedLaserScanList &rScans, const Pose2 &rPose) const

Vertex< LocalizedObjectPtr > *	GetVertex (LocalizedObject *pObject)

void	LinkNearChains (LocalizedLaserScan *pScan, Pose2List &rMeans, List< Matrix3 > &rCovariances)

void	LinkObjects (LocalizedObject pFromObject, LocalizedObject pToObject, const Pose2 &rMean, const Matrix3 &rCovariance)

Private Attributes
ScanMatcher *	m_pLoopScanMatcher

OpenMapper *	m_pOpenMapper

GraphTraversal< LocalizedObjectPtr > *	m_pTraversal

Additional Inherited Members
Public Types inherited from karto::Graph< LocalizedObjectPtr >
typedef List< Edge< LocalizedObjectPtr > * >	EdgeList

typedef List< Vertex< LocalizedObjectPtr > * >	VertexList

Protected Attributes inherited from karto::Graph< LocalizedObjectPtr >
EdgeList	m_Edges

VertexList	m_Vertices

Detailed Description

Graph for graph SLAM algorithm

Definition at line 563 of file OpenMapper.h.

Constructor & Destructor Documentation

karto::MapperGraph::MapperGraph	(	OpenMapper *	pOpenMapper,
		kt_double	rangeThreshold
	)

Graph for graph SLAM

Parameters

pOpenMapper	mapper
rangeThreshold	range threshold

Definition at line 1429 of file OpenMapper.cpp.

karto::MapperGraph::~MapperGraph ( )

virtual

Destructor

Definition at line 1438 of file OpenMapper.cpp.

Member Function Documentation

Edge< LocalizedObjectPtr > * karto::MapperGraph::AddEdge	(	LocalizedObject *	pSourceObject,
		LocalizedObject *	pTargetObject,
		kt_bool &	rIsNewEdge
	)

Creates an edge between the source object and the target object if it does not already exist; otherwise return the existing edge

Parameters

pSourceObject	source object
pTargetObject	target object
rIsNewEdge	set to true if the edge is new

Returns: edge between source and target vertices

Definition at line 1653 of file OpenMapper.cpp.

void karto::MapperGraph::AddEdges ( LocalizedObject * pObject )

Links object to last scan

Parameters

pObject object

Definition at line 1464 of file OpenMapper.cpp.

void karto::MapperGraph::AddEdges	(	LocalizedLaserScan *	pScan,
		const Matrix3 &	rCovariance
	)

Links scan to last scan and nearby chains of scans

Parameters

pScan	scan
rCovariance	match uncertainty

Definition at line 1490 of file OpenMapper.cpp.

void karto::MapperGraph::AddVertex ( LocalizedObject * pObject )

Adds a vertex representing the given object to the graph

Parameters

pObject object

Definition at line 1447 of file OpenMapper.cpp.

Pose2 karto::MapperGraph::ComputeWeightedMean	(	const Pose2List &	rMeans,
		const List< Matrix3 > &	rCovariances
	)		const

private

Compute mean of poses weighted by covariances

Parameters

rMeans	list of poses
rCovariances	uncertainties

Returns: weighted mean

Definition at line 2033 of file OpenMapper.cpp.

void karto::MapperGraph::CorrectPoses ( )

private

Optimizes scan poses

Definition at line 2125 of file OpenMapper.cpp.

List< LocalizedLaserScanList > karto::MapperGraph::FindNearChains ( LocalizedLaserScan * pScan )

private

Finds chains of scans that are close to given scan

Parameters

pScan scan

Returns: chains of scans

Definition at line 1861 of file OpenMapper.cpp.

LocalizedLaserScanList karto::MapperGraph::FindNearLinkedScans	(	LocalizedLaserScan *	pScan,
		kt_double	maxDistance
	)

Finds "nearby" (no further than given distance away) scans through graph links

Parameters

pScan	scan
maxDistance	maximum distance

Returns: "nearby" scans that have a path of links to given scan

Definition at line 1987 of file OpenMapper.cpp.

LocalizedLaserScanList karto::MapperGraph::FindOverlappingScans ( karto::LocalizedLaserScan * pScan )

Finds scans that overlap the given scan (based on bounding boxes)

Parameters

pScan scan

Returns: overlapping scans

Definition at line 2007 of file OpenMapper.cpp.

LocalizedLaserScanList karto::MapperGraph::FindPossibleLoopClosure	(	LocalizedLaserScan *	pScan,
		const Identifier &	rSensorName,
		kt_int32u &	rStartScanIndex
	)

private

Tries to find a chain of scan from the given sensor starting at the given scan index that could possibly close a loop with the given scan

Parameters

pScan	scan
rSensorName	name of sensor
rStartScanIndex	start index

Returns: chain that can possibly close a loop with given scan

Definition at line 2077 of file OpenMapper.cpp.

LocalizedLaserScan * karto::MapperGraph::GetClosestScanToPose	(	const LocalizedLaserScanList &	rScans,
		const Pose2 &	rPose
	)		const

private

Finds the closest scan in the vector to the given pose

Parameters

rScans	scan
rPose	pose

Definition at line 1633 of file OpenMapper.cpp.

ScanMatcher* karto::MapperGraph::GetLoopScanMatcher ( ) const

inline

Gets the graph's scan matcher

Returns: scan matcher

Definition at line 635 of file OpenMapper.h.

Vertex<LocalizedObjectPtr>* karto::MapperGraph::GetVertex ( LocalizedObject * pObject )

inlineprivate

Gets the vertex associated with the given scan

Parameters

pScan scan

Returns: vertex of scan

Definition at line 655 of file OpenMapper.h.

void karto::MapperGraph::LinkChainToScan	(	const LocalizedLaserScanList &	rChain,
		LocalizedLaserScan *	pScan,
		const Pose2 &	rMean,
		const Matrix3 &	rCovariance
	)

Links the chain of scans to the given scan by finding the closest scan in the chain to the given scan

Parameters

rChain	chain
pScan	scan
rMean	mean
rCovariance	match uncertainty

Definition at line 1842 of file OpenMapper.cpp.

void karto::MapperGraph::LinkNearChains	(	LocalizedLaserScan *	pScan,
		Pose2List &	rMeans,
		List< Matrix3 > &	rCovariances
	)

private

Finds nearby chains of scans and link them to scan if response is high enough

Parameters

pScan	scan
rMeans	means
rCovariances	match uncertainties

Definition at line 1761 of file OpenMapper.cpp.

void karto::MapperGraph::LinkObjects	(	LocalizedObject *	pFromObject,
		LocalizedObject *	pToObject,
		const Pose2 &	rMean,
		const Matrix3 &	rCovariance
	)

private

Adds an edge between the two objects and labels the edge with the given mean and covariance

Parameters

pFromObject	from object
pToObject	to object
rMean	mean
rCovariance	match uncertainty

Definition at line 1680 of file OpenMapper.cpp.

kt_bool karto::MapperGraph::TryCloseLoop	(	LocalizedLaserScan *	pScan,
		const Identifier &	rSensorName
	)

Tries to close a loop using the given scan with the scans from the given sensor

Parameters

pScan	scan
rSensorName	name of sensor

Returns: true if a loop was closed

Definition at line 1551 of file OpenMapper.cpp.

Member Data Documentation

ScanMatcher* karto::MapperGraph::m_pLoopScanMatcher

private

Scan matcher for loop closures

Definition at line 723 of file OpenMapper.h.

OpenMapper* karto::MapperGraph::m_pOpenMapper

private

Mapper of this graph

Definition at line 718 of file OpenMapper.h.

GraphTraversal<LocalizedObjectPtr>* karto::MapperGraph::m_pTraversal

private

Traversal algorithm to find near linked scans

Definition at line 728 of file OpenMapper.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation