GmappingParticleFilter Class Reference

#include <gmapping_particle_filter.h>

Inheritance diagram for GmappingParticleFilter:

Public Types
using	MapType = GmappingWorld::MapType
using	WorldT = LaserScanGridWorld< MapType >
Public Types inherited from LaserScanGridWorld< GmappingWorld::MapType >
using	MapType = typename World< TransformedLaserScan, GmappingWorld::MapType >::MapType
using	ScanType = TransformedLaserScan
Public Types inherited from World< TransformedLaserScan, GmappingWorld::MapType >
using	MapType = GmappingWorld::MapType

Public Member Functions
	GmappingParticleFilter (const SingleStateHypothesisLSGWProperties &shw_p, const GMappingParams &gprms, unsigned n=1)
void	handle_sensor_data (TransformedLaserScan &scan) override
const GmappingWorld::MapType &	map () const override
const RobotPose &	pose () const override
void	update_robot_pose (const RobotPoseDelta &delta) override
const WorldT &	world () const override
Public Member Functions inherited from LaserScanGridWorld< GmappingWorld::MapType >
void	handle_sensor_data (ScanType &scan) override
Public Member Functions inherited from World< TransformedLaserScan, GmappingWorld::MapType >
MapType &	map ()
Public Member Functions inherited from WorldObservable< GmappingWorld::MapType >
void	subscribe_map (std::shared_ptr< WorldMapObserver< GmappingWorld::MapType >> obs)
void	subscribe_pose (std::shared_ptr< WorldPoseObserver > obs)

Protected Member Functions
void	handle_observation (TransformedLaserScan &obs) override
Protected Member Functions inherited from World< TransformedLaserScan, GmappingWorld::MapType >
virtual	~World ()=default
Protected Member Functions inherited from WorldObservable< GmappingWorld::MapType >
void	notify_with_map (const GmappingWorld::MapType &map)
void	notify_with_pose (const RobotPose &pose)

Private Member Functions
void	ensure_master_exists ()
bool	try_resample ()

Private Attributes
ParticleFilter< GmappingWorld >	_pf
RobotPoseDelta	_traversed_since_last_resample

Detailed Description

Definition at line 29 of file gmapping_particle_filter.h.

Member Typedef Documentation

using GmappingParticleFilter::MapType = GmappingWorld::MapType

Definition at line 32 of file gmapping_particle_filter.h.

using GmappingParticleFilter::WorldT = LaserScanGridWorld<MapType>

Definition at line 33 of file gmapping_particle_filter.h.

Constructor & Destructor Documentation

GmappingParticleFilter::GmappingParticleFilter ( const SingleStateHypothesisLSGWProperties &  shw_p, const GMappingParams &  gprms, unsigned  n = 1  )

inline

Definition at line 36 of file gmapping_particle_filter.h.

Member Function Documentation

void GmappingParticleFilter::ensure_master_exists ( )

inlineprivate

Definition at line 101 of file gmapping_particle_filter.h.

void GmappingParticleFilter::handle_observation ( TransformedLaserScan &  obs )

inlineoverrideprotectedvirtual

Implements LaserScanGridWorld< GmappingWorld::MapType >.

Definition at line 69 of file gmapping_particle_filter.h.

void GmappingParticleFilter::handle_sensor_data ( TransformedLaserScan &  scan )

inlineoverridevirtual

Implements SensorDataObserver< TransformedLaserScan >.

Definition at line 46 of file gmapping_particle_filter.h.

const GmappingWorld::MapType& GmappingParticleFilter::map ( ) const

inlineoverridevirtual

Implements World< TransformedLaserScan, GmappingWorld::MapType >.

Definition at line 65 of file gmapping_particle_filter.h.

const RobotPose& GmappingParticleFilter::pose ( ) const

inlineoverridevirtual

Reimplemented from World< TransformedLaserScan, GmappingWorld::MapType >.

Definition at line 64 of file gmapping_particle_filter.h.

bool GmappingParticleFilter::try_resample ( )

inlineprivate

Definition at line 87 of file gmapping_particle_filter.h.

void GmappingParticleFilter::update_robot_pose ( const RobotPoseDelta &  delta )

inlineoverridevirtual

Reimplemented from World< TransformedLaserScan, GmappingWorld::MapType >.

Definition at line 53 of file gmapping_particle_filter.h.

const WorldT& GmappingParticleFilter::world ( ) const

inlineoverridevirtual

Reimplemented from World< TransformedLaserScan, GmappingWorld::MapType >.

Definition at line 60 of file gmapping_particle_filter.h.

Member Data Documentation

ParticleFilter<GmappingWorld> GmappingParticleFilter::_pf

private

Definition at line 115 of file gmapping_particle_filter.h.

RobotPoseDelta GmappingParticleFilter::_traversed_since_last_resample

private

Definition at line 116 of file gmapping_particle_filter.h.

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

• gmapping_particle_filter.h