M3RSMEngine Class Reference

#include <m3rsm_engine.h>

Public Types
using	Rect = decltype(SPEParams{}.sp_analysis_area)

Public Member Functions
void	add_match (Match &&match)
void	add_scan_matching_request (std::shared_ptr< ScanProbabilityEstimator > spe, const RobotPose &pose, const LaserScan2D &raw_scan, GridMap &map, bool prerotate_scan=false)
	M3RSMEngine (double max_finest_prob_diff=0)
Match	next_best_match (double translation_step)
void	reset_engine_state ()
void	set_rotation_lookup_range (double sector, double step)
void	set_translation_lookup_range (double max_x_error, double max_y_error)

Private Types
using	Matches = std::priority_queue< Match >
using	SPEParams = ScanProbabilityEstimator::SPEParams

Private Member Functions
void	branch (const Match &coarse_match, bool is_horz, bool is_vert)

Private Attributes
double	_best_finest_probability
std::priority_queue< Match >	_matches
double	_max_finest_prob_diff
double	_max_x_error
double	_max_y_error
double	_rotation_resolution
double	_rotation_sector

Detailed Description

Definition at line 132 of file m3rsm_engine.h.

Member Typedef Documentation

using M3RSMEngine::Matches = std::priority_queue<Match>

private

Definition at line 134 of file m3rsm_engine.h.

using M3RSMEngine::Rect = decltype(SPEParams{}.sp_analysis_area)

Definition at line 137 of file m3rsm_engine.h.

using M3RSMEngine::SPEParams = ScanProbabilityEstimator::SPEParams

private

Definition at line 135 of file m3rsm_engine.h.

Constructor & Destructor Documentation

M3RSMEngine::M3RSMEngine ( double  max_finest_prob_diff = 0 )

inline

Definition at line 140 of file m3rsm_engine.h.

Member Function Documentation

void M3RSMEngine::add_match ( Match &&  match )

inline

Definition at line 160 of file m3rsm_engine.h.

void M3RSMEngine::add_scan_matching_request ( std::shared_ptr< ScanProbabilityEstimator >  spe, const RobotPose &  pose, const LaserScan2D &  raw_scan, GridMap &  map, bool  prerotate_scan = false  )

inline

Definition at line 171 of file m3rsm_engine.h.

void M3RSMEngine::branch ( const Match &  coarse_match, bool  is_horz, bool  is_vert  )

inlineprivate

Definition at line 217 of file m3rsm_engine.h.

Match M3RSMEngine::next_best_match ( double  translation_step )

inline

Definition at line 198 of file m3rsm_engine.h.

void M3RSMEngine::reset_engine_state ( )

inline

Definition at line 145 of file m3rsm_engine.h.

void M3RSMEngine::set_rotation_lookup_range ( double  sector, double  step  )

inline

Definition at line 155 of file m3rsm_engine.h.

void M3RSMEngine::set_translation_lookup_range ( double  max_x_error, double  max_y_error  )

inline

Definition at line 150 of file m3rsm_engine.h.

Member Data Documentation

double M3RSMEngine::_best_finest_probability

private

Definition at line 242 of file m3rsm_engine.h.

std::priority_queue<Match> M3RSMEngine::_matches

private

Definition at line 241 of file m3rsm_engine.h.

double M3RSMEngine::_max_finest_prob_diff

private

Definition at line 240 of file m3rsm_engine.h.

double M3RSMEngine::_max_x_error

private

Definition at line 243 of file m3rsm_engine.h.

double M3RSMEngine::_max_y_error

private

Definition at line 243 of file m3rsm_engine.h.

double M3RSMEngine::_rotation_resolution

private

Definition at line 244 of file m3rsm_engine.h.

double M3RSMEngine::_rotation_sector

private

Definition at line 244 of file m3rsm_engine.h.

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

• m3rsm_engine.h