Inheritance diagram for BruteForceMultiResolutionScanMatcher:

Public Member Functions
	BruteForceMultiResolutionScanMatcher (SPE est, double ang_step=deg2rad(0.1), double transl_step=0.05)

double	process_scan (const TransformedLaserScan &raw_scan, const RobotPose &pose, const GridMap &map, RobotPoseDelta &result_pose_delta) override

void	set_target_accuracy (double angle_step, double translation_step)

Public Member Functions inherited from GridScanMatcher
LaserScan2D	filter_scan (const LaserScan2D &scan, const RobotPose &pose, const GridMap &map)

	GridScanMatcher (SPE estimator, double max_x_error=0, double max_y_error=0, double max_th_error=0)

virtual void	reset_state ()

double	scan_probability (const LaserScan2D &scan, const RobotPose &pose, const GridMap &map) const

double	scan_probability (const LaserScan2D &scan, const RobotPose &pose, const GridMap &map, const SPEParams &p) const

SPE	scan_probability_estimator () const

void	set_lookup_ranges (double x, double y=0, double th=0)

void	set_scan_probability_estimator (SPE spe)

void	subscribe (std::shared_ptr< GridScanMatcherObserver > obs)

void	unsubscribe (std::shared_ptr< GridScanMatcherObserver > obs)

virtual	~GridScanMatcher ()=default

Additional Inherited Members
Public Types inherited from GridScanMatcher
using	ObsPtr = std::shared_ptr< GridScanMatcherObserver >

using	SPE = std::shared_ptr< ScanProbabilityEstimator >

using	SPEParams = ScanProbabilityEstimator::SPEParams

Protected Member Functions inherited from GridScanMatcher
void	do_for_each_observer (std::function< void(ObsPtr)> op)

double	max_th_error ()

double	max_x_error ()

double	max_y_error ()

std::vector< std::weak_ptr< GridScanMatcherObserver > > &	observers ()

Detailed Description

Constructor & Destructor Documentation

BruteForceMultiResolutionScanMatcher::BruteForceMultiResolutionScanMatcher	(	SPE	est,
		double	ang_step = `deg2rad(0.1)`,
		double	transl_step = `0.05`
	)

inline

double BruteForceMultiResolutionScanMatcher::process_scan	(	const TransformedLaserScan &	raw_scan,
		const RobotPose &	pose,
		const GridMap &	map,
		RobotPoseDelta &	result_pose_delta
	)