Match Struct Reference

#include <m3rsm_engine.h>

Public Member Functions
double	is_finest (double threashold=0) const
bool	is_valid () const
	Match (double rot, const Rect &tdrift, SPEPtr scan_prob_est, std::shared_ptr< LaserScan2D > filtered_lscan, bool is_rotated, const RobotPose &robot_pose, GridMap &grid_map, bool is_root=true)
	Match (const Rect &tdrift, const Match &that)
bool	operator< (const Match &that) const

Static Public Member Functions
static Match	invalid_match ()

Public Attributes
std::shared_ptr< LaserScan2D >	filtered_scan
GridMap *	map
const RobotPose *	pose
double	prob_upper_bound
double	rotation
bool	scan_is_prerotated
SPEPtr	spe
Rect	translation_drift

Private Types
using	Rect = decltype(SPEParams{}.sp_analysis_area)
using	SPEParams = ScanProbabilityEstimator::SPEParams
using	SPEPtr = std::shared_ptr< ScanProbabilityEstimator >

Private Member Functions
void	filter_prerotated_scan ()
	Match (double prob)

Private Attributes
double	_abs_rotation
double	_drift_amount

Detailed Description

Definition at line 15 of file m3rsm_engine.h.

Member Typedef Documentation

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

private

Definition at line 19 of file m3rsm_engine.h.

using Match::SPEParams = ScanProbabilityEstimator::SPEParams

private

Definition at line 17 of file m3rsm_engine.h.

using Match::SPEPtr = std::shared_ptr<ScanProbabilityEstimator>

private

Definition at line 18 of file m3rsm_engine.h.

Constructor & Destructor Documentation

Match::Match ( double  rot, const Rect &  tdrift, SPEPtr  scan_prob_est, std::shared_ptr< LaserScan2D >  filtered_lscan, bool  is_rotated, const RobotPose &  robot_pose, GridMap &  grid_map, bool  is_root = true  )

inline

Definition at line 38 of file m3rsm_engine.h.

Match::Match ( const Rect &  tdrift, const Match &  that  )

inline

Definition at line 62 of file m3rsm_engine.h.

Match::Match ( double  prob )

inlineprivate

Definition at line 86 of file m3rsm_engine.h.

Member Function Documentation

void Match::filter_prerotated_scan ( )

inlineprivate

Definition at line 88 of file m3rsm_engine.h.

static Match Match::invalid_match ( )

inlinestatic

Definition at line 33 of file m3rsm_engine.h.

double Match::is_finest ( double  threashold = 0 ) const

inline

Definition at line 67 of file m3rsm_engine.h.

bool Match::is_valid ( ) const

inline

Definition at line 66 of file m3rsm_engine.h.

bool Match::operator< ( const Match &  that ) const

inline

Definition at line 72 of file m3rsm_engine.h.

Member Data Documentation

double Match::_abs_rotation

private

Definition at line 122 of file m3rsm_engine.h.

double Match::_drift_amount

private

Definition at line 122 of file m3rsm_engine.h.

std::shared_ptr<LaserScan2D> Match::filtered_scan

Definition at line 28 of file m3rsm_engine.h.

GridMap* Match::map

Definition at line 31 of file m3rsm_engine.h.

const RobotPose* Match::pose

Definition at line 30 of file m3rsm_engine.h.

double Match::prob_upper_bound

Definition at line 22 of file m3rsm_engine.h.

double Match::rotation

Definition at line 24 of file m3rsm_engine.h.

bool Match::scan_is_prerotated

Definition at line 29 of file m3rsm_engine.h.

SPEPtr Match::spe

Definition at line 27 of file m3rsm_engine.h.

Rect Match::translation_drift

Definition at line 25 of file m3rsm_engine.h.

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

• m3rsm_engine.h