HillClimbingSMFixed Class Reference

#include <hcsm_fixed.h>

Inheritance diagram for HillClimbingSMFixed:

Public Member Functions
	HillClimbingSMFixed (SPE est, int max_shrinks_nm=5, double lin_delta=0.1, double ang_delta=0.1)
double	process_scan (const TransformedLaserScan &raw_scan, const RobotPose &init_pose, const GridMap &map, RobotPoseDelta &pose_delta) override
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

Private Types
enum	Dim { X = 0, Y, Th, DimNm }
enum	Dir { Inc = 0, Dec, DirNm }

Private Member Functions
RobotPose	shift (const RobotPose &current_pose, double a_step, double l_step, size_t action)

Private Attributes
double	_angular_delta
double	_linear_delta
unsigned	_max_step_shrinks

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

Definition at line 11 of file hcsm_fixed.h.

Member Enumeration Documentation

enum HillClimbingSMFixed::Dim

private

Enumerator
X
Y
Th
DimNm

Definition at line 75 of file hcsm_fixed.h.

enum HillClimbingSMFixed::Dir

private

Enumerator
Inc
Dec
DirNm

Definition at line 76 of file hcsm_fixed.h.

Constructor & Destructor Documentation

HillClimbingSMFixed::HillClimbingSMFixed ( SPE  est, int  max_shrinks_nm = 5, double  lin_delta = 0.1, double  ang_delta = 0.1  )

inline

Definition at line 13 of file hcsm_fixed.h.

Member Function Documentation

double HillClimbingSMFixed::process_scan ( const TransformedLaserScan &  raw_scan, const RobotPose &  init_pose, const GridMap &  map, RobotPoseDelta &  pose_delta  )

inlineoverridevirtual

Implements GridScanMatcher.

Definition at line 19 of file hcsm_fixed.h.

RobotPose HillClimbingSMFixed::shift ( const RobotPose &  current_pose, double  a_step, double  l_step, size_t  action  )

inlineprivate

Definition at line 80 of file hcsm_fixed.h.

Member Data Documentation

double HillClimbingSMFixed::_angular_delta

private

Definition at line 96 of file hcsm_fixed.h.

double HillClimbingSMFixed::_linear_delta

private

Definition at line 96 of file hcsm_fixed.h.

unsigned HillClimbingSMFixed::_max_step_shrinks

private

Definition at line 97 of file hcsm_fixed.h.

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

• hcsm_fixed.h