#include <grid_scan_matcher.h>

Inheritance diagram for GridScanMatcher:

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Public Types
using	ObsPtr = std::shared_ptr< GridScanMatcherObserver >

using	SPE = std::shared_ptr< ScanProbabilityEstimator >

using	SPEParams = ScanProbabilityEstimator::SPEParams

Public Member Functions
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 double	process_scan (const TransformedLaserScan &scan, const RobotPose &init_pose, const GridMap &map, RobotPoseDelta &pose_delta)=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

Protected Member Functions
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 ()

Private Attributes
double	_max_th_error = 0

double	_max_x_error = 0

double	_max_y_error = 0

std::vector< std::weak_ptr< GridScanMatcherObserver > >	_observers

SPE	_scan_prob_estimator

Detailed Description

Definition at line 99 of file grid_scan_matcher.h.

Member Typedef Documentation

using GridScanMatcher::ObsPtr = std::shared_ptr<GridScanMatcherObserver>

Definition at line 101 of file grid_scan_matcher.h.

using GridScanMatcher::SPE = std::shared_ptr<ScanProbabilityEstimator>

Definition at line 102 of file grid_scan_matcher.h.

using GridScanMatcher::SPEParams = ScanProbabilityEstimator::SPEParams

Definition at line 103 of file grid_scan_matcher.h.

Constructor & Destructor Documentation

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

inline

Definition at line 105 of file grid_scan_matcher.h.

virtual GridScanMatcher::~GridScanMatcher ( )

virtualdefault

Member Function Documentation

void GridScanMatcher::do_for_each_observer ( std::function< void(ObsPtr)> op )

inlineprotected

Definition at line 172 of file grid_scan_matcher.h.

LaserScan2D GridScanMatcher::filter_scan	(	const LaserScan2D &	scan,
		const RobotPose &	pose,
		const GridMap &	map
	)

inline

Definition at line 143 of file grid_scan_matcher.h.

double GridScanMatcher::max_th_error ( )

inlineprotected

Definition at line 182 of file grid_scan_matcher.h.

double GridScanMatcher::max_x_error ( )

inlineprotected

Definition at line 180 of file grid_scan_matcher.h.

double GridScanMatcher::max_y_error ( )

inlineprotected

Definition at line 181 of file grid_scan_matcher.h.

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

inlineprotected

Definition at line 168 of file grid_scan_matcher.h.

virtual double GridScanMatcher::process_scan	(	const TransformedLaserScan &	scan,
		const RobotPose &	init_pose,
		const GridMap &	map,
		RobotPoseDelta &	pose_delta
	)

pure virtual

Implemented in PoseEnumerationScanMatcher, BruteForceMultiResolutionScanMatcher, ConnectTheDotsAmbiguousDriftDetector, and HillClimbingSMFixed.

virtual void GridScanMatcher::reset_state ( )

inlinevirtual

Reimplemented in PoseEnumerationScanMatcher, and ConnectTheDotsAmbiguousDriftDetector.

Definition at line 119 of file grid_scan_matcher.h.

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

inline

Definition at line 148 of file grid_scan_matcher.h.

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

inline

Definition at line 153 of file grid_scan_matcher.h.

SPE GridScanMatcher::scan_probability_estimator ( ) const

inline

Definition at line 158 of file grid_scan_matcher.h.

void GridScanMatcher::set_lookup_ranges	(	double	x,
		double	y = `0`,
		double	th = `0`
	)

inline

Definition at line 137 of file grid_scan_matcher.h.

void GridScanMatcher::set_scan_probability_estimator ( SPE spe )

inline

Definition at line 162 of file grid_scan_matcher.h.

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

inline

Definition at line 121 of file grid_scan_matcher.h.

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

inline

Definition at line 125 of file grid_scan_matcher.h.

Member Data Documentation

double GridScanMatcher::_max_th_error = 0

private

Definition at line 187 of file grid_scan_matcher.h.

double GridScanMatcher::_max_x_error = 0

private

Definition at line 187 of file grid_scan_matcher.h.

double GridScanMatcher::_max_y_error = 0

private

Definition at line 187 of file grid_scan_matcher.h.

std::vector<std::weak_ptr<GridScanMatcherObserver> > GridScanMatcher::_observers

private

Definition at line 185 of file grid_scan_matcher.h.

SPE GridScanMatcher::_scan_prob_estimator

private

Definition at line 186 of file grid_scan_matcher.h.

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

grid_scan_matcher.h

Public Types

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation