Inheritance diagram for BFMRScanMatcherTestBase< Map >:

Protected Types
using	OOPE = MaxOccupancyObservationPE

using	SPE = typename ScanMatcherTestBase< Map >::DefaultSPE

using	SPW = EvenSPW

Protected Types inherited from ScanMatcherTestBase< Map >
using	DefaultSPE = WeightedMeanPointProbabilitySPE

Protected Member Functions
	BFMRScanMatcherTestBase ()

RobotPoseDelta	default_acceptable_error () override

void	init_pose_facing_top_cecum_bound ()

GridScanMatcher &	scan_matcher () override

Protected Member Functions inherited from ScanMatcherTestBase< Map >
virtual void	add_primitive_to_map (const TextRasterMapPrimitive &mp, const DiscretePoint2D &offset, int w_scale, int h_scale)

virtual bool	is_result_noise_acceptable (const TransformedLaserScan &raw_scan, const RobotPoseDelta &init_noise, const RobotPoseDelta &noise)

	ScanMatcherTestBase (std::shared_ptr< ScanProbabilityEstimator > prob_est, int map_w, int map_h, double map_scale, const LaserScannerParams &dflt_lsp)

void	test_scan_matcher (const LaserScannerParams &lsp, const RobotPoseDelta &noise, const RobotPoseDelta &acc_error)

void	test_scan_matcher (const RobotPoseDelta &noise, const RobotPoseDelta &acc_error)

void	test_scan_matcher (const RobotPoseDelta &noise)

Protected Attributes
	bfmrsm

BruteForceMultiResolutionScanMatcher	bfmrsm

	Cecum_Patch_H = 13

Protected Attributes inherited from ScanMatcherTestBase< Map >
LaserScannerParams	default_lsp

Map	map

RobotPose	rpose

std::shared_ptr< ScanProbabilityEstimator >	spe

Static Protected Attributes
static constexpr int	LS_FoW = 270

static constexpr double	LS_Max_Dist = 15

static constexpr int	LS_Pts_Nm = 5000

static constexpr int	Map_Height = 100

static constexpr double	Map_Scale = 0.125

static constexpr int	Map_Width = 100

static constexpr int	Patch_Scale = 1

static constexpr double	SM_Ang_Step = deg2rad(0.5)

static constexpr double	SM_Max_Rotation_Error = deg2rad(5)

static constexpr double	SM_Max_Translation_Error = Map_Scale * 10

static constexpr double	SM_Transl_Step = Map_Scale / 2

Static Protected Attributes inherited from ScanMatcherTestBase< Map >
static constexpr RobotPoseDelta	Acceptable_Error

Detailed Description

template<typename Map>
class BFMRScanMatcherTestBase< Map >

Definition at line 15 of file bf_multi_res_sm_smoke_test.cpp.

Member Typedef Documentation

template<typename Map>

using BFMRScanMatcherTestBase< Map >::OOPE = MaxOccupancyObservationPE

protected

Definition at line 19 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>

using BFMRScanMatcherTestBase< Map >::SPE = typename ScanMatcherTestBase<Map>::DefaultSPE

protected

Definition at line 18 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>

using BFMRScanMatcherTestBase< Map >::SPW = EvenSPW

protected

Definition at line 20 of file bf_multi_res_sm_smoke_test.cpp.

Constructor & Destructor Documentation

template<typename Map>

BFMRScanMatcherTestBase< Map >::BFMRScanMatcherTestBase ( )

inlineprotected

Definition at line 22 of file bf_multi_res_sm_smoke_test.cpp.

Member Function Documentation

template<typename Map>

RobotPoseDelta BFMRScanMatcherTestBase< Map >::default_acceptable_error ( )

inlineoverrideprotectedvirtual

Reimplemented from ScanMatcherTestBase< Map >.

Definition at line 56 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>

void BFMRScanMatcherTestBase< Map >::init_pose_facing_top_cecum_bound ( )

inlineprotected

Definition at line 60 of file bf_multi_res_sm_smoke_test.cpp.

template<typename Map>

GridScanMatcher& BFMRScanMatcherTestBase< Map >::scan_matcher ( )

inlineoverrideprotectedvirtual

Implements ScanMatcherTestBase< Map >.

Definition at line 54 of file bf_multi_res_sm_smoke_test.cpp.

Member Data Documentation

template<typename Map>

BFMRScanMatcherTestBase< Map >::bfmrsm

protected

Initial value:

{this->spe, SM_Ang_Step, SM_Transl_Step} {
    bfmrsm.set_lookup_ranges(SM_Max_Translation_Error, SM_Max_Translation_Error,
                            SM_Max_Rotation_Error);
  }
protected: 
  
  static constexpr int Cecum_Patch_W = 15