GmappingWorld Class Reference

#include <gmapping_world.h>

Inheritance diagram for GmappingWorld:

Public Types
using	GRV1D = GaussianRV1D< RandomEngine >
using	MapType = UnboundedLazyTiledGridMap
using	RandomEngine = std::mt19937
Public Types inherited from SingleStateHypothesisLaserScanGridWorld< UnboundedLazyTiledGridMap >
using	MapType = typename LaserScanGridWorld< UnboundedLazyTiledGridMap >::MapType
using	Properties = SingleStateHypothesisLSGWProperties
Public Types inherited from LaserScanGridWorld< UnboundedLazyTiledGridMap >
using	MapType = typename World< TransformedLaserScan, UnboundedLazyTiledGridMap >::MapType
using	ScanType = TransformedLaserScan
Public Types inherited from World< TransformedLaserScan, UnboundedLazyTiledGridMap >
using	MapType = UnboundedLazyTiledGridMap

Public Member Functions
	GmappingWorld (const SingleStateHypothesisLSGWProperties &shw_params, const GMappingParams &gparams)
void	handle_observation (TransformedLaserScan &scan) override
bool	is_master ()
void	mark_master ()
void	sample () override
void	update_robot_pose (const RobotPoseDelta &delta) override
Public Member Functions inherited from Particle
	Particle ()
void	set_weight (double w)
double	weight () const
virtual	~Particle ()=default
Public Member Functions inherited from SingleStateHypothesisLaserScanGridWorld< UnboundedLazyTiledGridMap >
void	add_sm_observer (std::shared_ptr< GridScanMatcherObserver > obs)
const MapType &	map () const override
void	remove_sm_observer (std::shared_ptr< GridScanMatcherObserver > obs)
auto	scan_adder ()
auto	scan_matcher ()
	SingleStateHypothesisLaserScanGridWorld (const Properties &props)
Public Member Functions inherited from LaserScanGridWorld< UnboundedLazyTiledGridMap >
void	handle_sensor_data (ScanType &scan) override
Public Member Functions inherited from World< TransformedLaserScan, UnboundedLazyTiledGridMap >
MapType &	map ()
virtual const RobotPose &	pose () const
virtual const World< TransformedLaserScan, MapType > &	world () const
Public Member Functions inherited from WorldObservable< UnboundedLazyTiledGridMap >
void	subscribe_map (std::shared_ptr< WorldMapObserver< UnboundedLazyTiledGridMap >> obs)
void	subscribe_pose (std::shared_ptr< WorldPoseObserver > obs)

Private Member Functions
void	reset_scan_matching_delta ()

Private Attributes
RobotPoseDelta	_delta_since_last_sm
bool	_is_master = false
RobotPoseDelta	_next_sm_delta
RobotPoseDeltaRV< RandomEngine >	_next_sm_delta_rv
RobotPoseDeltaRV< RandomEngine >	_pose_guess_rv
RobotPose	_raw_odom_pose
RandomEngine	_rnd_engine
bool	_scan_is_first = true

Additional Inherited Members
Protected Member Functions inherited from World< TransformedLaserScan, UnboundedLazyTiledGridMap >
virtual	~World ()=default
Protected Member Functions inherited from WorldObservable< UnboundedLazyTiledGridMap >
void	notify_with_map (const UnboundedLazyTiledGridMap &map)
void	notify_with_pose (const RobotPose &pose)
Protected Attributes inherited from SingleStateHypothesisLaserScanGridWorld< UnboundedLazyTiledGridMap >
MapType	_map
Properties	_props

Detailed Description

Definition at line 36 of file gmapping_world.h.

Member Typedef Documentation

using GmappingWorld::GRV1D = GaussianRV1D<RandomEngine>

Definition at line 41 of file gmapping_world.h.

using GmappingWorld::MapType = UnboundedLazyTiledGridMap

Definition at line 42 of file gmapping_world.h.

using GmappingWorld::RandomEngine = std::mt19937

Definition at line 40 of file gmapping_world.h.

Constructor & Destructor Documentation

GmappingWorld::GmappingWorld ( const SingleStateHypothesisLSGWProperties &  shw_params, const GMappingParams &  gparams  )

inline

Definition at line 45 of file gmapping_world.h.

Member Function Documentation

void GmappingWorld::handle_observation ( TransformedLaserScan &  scan )

inlineoverridevirtual

Reimplemented from SingleStateHypothesisLaserScanGridWorld< UnboundedLazyTiledGridMap >.

Definition at line 73 of file gmapping_world.h.

bool GmappingWorld::is_master ( )

inline

Definition at line 111 of file gmapping_world.h.

void GmappingWorld::mark_master ( )

inline

Definition at line 103 of file gmapping_world.h.

void GmappingWorld::reset_scan_matching_delta ( )

inlineprivate

Definition at line 116 of file gmapping_world.h.

void GmappingWorld::sample ( )

inlineoverridevirtual

Reimplemented from Particle.

Definition at line 112 of file gmapping_world.h.

void GmappingWorld::update_robot_pose ( const RobotPoseDelta &  delta )

inlineoverridevirtual

Reimplemented from World< TransformedLaserScan, UnboundedLazyTiledGridMap >.

Definition at line 57 of file gmapping_world.h.

Member Data Documentation

RobotPoseDelta GmappingWorld::_delta_since_last_sm

private

Definition at line 127 of file gmapping_world.h.

bool GmappingWorld::_is_master = false

private

Definition at line 123 of file gmapping_world.h.

RobotPoseDelta GmappingWorld::_next_sm_delta

private

Definition at line 127 of file gmapping_world.h.

RobotPoseDeltaRV<RandomEngine> GmappingWorld::_next_sm_delta_rv

private

Definition at line 126 of file gmapping_world.h.

RobotPoseDeltaRV<RandomEngine> GmappingWorld::_pose_guess_rv

private

Definition at line 126 of file gmapping_world.h.

RobotPose GmappingWorld::_raw_odom_pose

private

Definition at line 122 of file gmapping_world.h.

RandomEngine GmappingWorld::_rnd_engine

private

Definition at line 125 of file gmapping_world.h.

bool GmappingWorld::_scan_is_first = true

private

Definition at line 124 of file gmapping_world.h.

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

• gmapping_world.h