The EKFslam class provides EKF SLAM 2d from MRPT libraries. More...

#include <mrpt_ekf_slam_2d.h>

Inheritance diagram for EKFslam:

Public Member Functions
	EKFslam ()
	constructor More...

void	init3Dwindow ()
	init 3D window from mrpt lib More...

void	landmark_to_3d (const CRangeBearingKFSLAM2D::KFArray_FEAT &lm, TPoint3D &p)
	convert landmark to 3d point More...

void	observation (CSensoryFrame::Ptr _sf, CObservationOdometry::Ptr _odometry)
	calculate the actions from odometry model for current observation More...

void	read_iniFile (std::string ini_filename)
	read ini file More...

void	run3Dwindow ()
	run 3D window update from mrpt lib More...

virtual	~EKFslam ()
	destructor More...

Protected Attributes
CActionCollection::Ptr	action
	actions More...

bool	CAMERA_3DSCENE_FOLLOWS_ROBOT

CMatrixDouble	fullCov_
	full covariance matrix More...

CVectorDouble	fullState_
	full state vector More...

std::map< unsigned int, CLandmark::TLandmarkID >	LM_IDs_
	vector of the landmarks ID More...

std::vector< mrpt::math::TPoint2D >	LMs_
	vector of the landmarks More...

CRangeBearingKFSLAM2D	mapping
	EKF slam 2d class. More...

vector< TPose3D >	meanPath

CActionRobotMovement2D::TMotionModelOptions	motion_model_default_options_
	used if there are is not odom More...

CActionRobotMovement2D::TMotionModelOptions	motion_model_options_
	used with odom value motion noise More...

mrpt::poses::CPose2D	odomLastObservation_
	last observation of odometry More...

CPosePDFGaussian	robotPose_
	current robot pose More...

CSensoryFrame::Ptr	sf
	observations More...

bool	SHOW_3D_LIVE

mrpt::system::TTimeStamp	timeLastUpdate_
	last update of the pose and map More...

bool	use_motion_model_default_options_
	used default odom_params More...

mrpt::gui::CDisplayWindow3D::Ptr	win3d
	MRPT window. More...

Detailed Description

The EKFslam class provides EKF SLAM 2d from MRPT libraries.

Definition at line 58 of file mrpt_ekf_slam_2d.h.

Constructor & Destructor Documentation

EKFslam::EKFslam ( )

constructor

Definition at line 12 of file mrpt_ekf_slam_2d.cpp.

EKFslam::~EKFslam ( )

virtual

destructor

Definition at line 36 of file mrpt_ekf_slam_2d.cpp.

Member Function Documentation

void EKFslam::init3Dwindow ( )

init 3D window from mrpt lib

Definition at line 92 of file mrpt_ekf_slam_2d.cpp.

void EKFslam::landmark_to_3d	(	const CRangeBearingKFSLAM2D::KFArray_FEAT &	lm,
		TPoint3D &	p
	)

convert landmark to 3d point

Definition at line 189 of file mrpt_ekf_slam_2d.cpp.

void EKFslam::observation	(	CSensoryFrame::Ptr	_sf,
		CObservationOdometry::Ptr	_odometry
	)

calculate the actions from odometry model for current observation

Parameters

_sf	current observation
_odometry	raw odometry

Definition at line 67 of file mrpt_ekf_slam_2d.cpp.

void EKFslam::read_iniFile ( std::string ini_filename )

read ini file

Parameters

ini_filename the name of the ini file to read

Definition at line 40 of file mrpt_ekf_slam_2d.cpp.

void EKFslam::run3Dwindow ( )

run 3D window update from mrpt lib

Definition at line 102 of file mrpt_ekf_slam_2d.cpp.

Member Data Documentation

CActionCollection::Ptr EKFslam::action

protected

actions

Definition at line 100 of file mrpt_ekf_slam_2d.h.

bool EKFslam::CAMERA_3DSCENE_FOLLOWS_ROBOT

protected

Definition at line 116 of file mrpt_ekf_slam_2d.h.

CMatrixDouble EKFslam::fullCov_

protected

full covariance matrix

Definition at line 111 of file mrpt_ekf_slam_2d.h.

CVectorDouble EKFslam::fullState_

protected

full state vector

Definition at line 112 of file mrpt_ekf_slam_2d.h.

std::map<unsigned int, CLandmark::TLandmarkID> EKFslam::LM_IDs_

protected

vector of the landmarks ID

Definition at line 110 of file mrpt_ekf_slam_2d.h.

std::vector<mrpt::math::TPoint2D> EKFslam::LMs_

protected

vector of the landmarks

Definition at line 109 of file mrpt_ekf_slam_2d.h.

CRangeBearingKFSLAM2D EKFslam::mapping

protected

EKF slam 2d class.

Definition at line 96 of file mrpt_ekf_slam_2d.h.

vector<TPose3D> EKFslam::meanPath

protected

Definition at line 117 of file mrpt_ekf_slam_2d.h.

CActionRobotMovement2D::TMotionModelOptions EKFslam::motion_model_default_options_

protected

used if there are is not odom

Definition at line 105 of file mrpt_ekf_slam_2d.h.

CActionRobotMovement2D::TMotionModelOptions EKFslam::motion_model_options_

protected

used with odom value motion noise

Definition at line 106 of file mrpt_ekf_slam_2d.h.

mrpt::poses::CPose2D EKFslam::odomLastObservation_

protected

last observation of odometry

Definition at line 103 of file mrpt_ekf_slam_2d.h.

CPosePDFGaussian EKFslam::robotPose_

protected

current robot pose

Definition at line 108 of file mrpt_ekf_slam_2d.h.

CSensoryFrame::Ptr EKFslam::sf

protected

observations

Definition at line 101 of file mrpt_ekf_slam_2d.h.

bool EKFslam::SHOW_3D_LIVE

protected

Definition at line 115 of file mrpt_ekf_slam_2d.h.

mrpt::system::TTimeStamp EKFslam::timeLastUpdate_

protected

last update of the pose and map

Definition at line 98 of file mrpt_ekf_slam_2d.h.

bool EKFslam::use_motion_model_default_options_

protected

used default odom_params

Definition at line 104 of file mrpt_ekf_slam_2d.h.

mrpt::gui::CDisplayWindow3D::Ptr EKFslam::win3d

protected

MRPT window.

Definition at line 114 of file mrpt_ekf_slam_2d.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation