karto::Mapper Class Reference

#include <Mapper.h>

Inheritance diagram for karto::Mapper:

Public Member Functions
void	AddListener (MapperListener *pListener)
void	AddScanToLocalizationBuffer (LocalizedRangeScan *pScan, Vertex< LocalizedRangeScan > *scan_vertex)
void	ClearLocalizationBuffer ()
void	CorrectPoses ()
void	FireBeginLoopClosure (const std::string &rInfo) const
void	FireDebug (const std::string &rInfo) const
void	FireEndLoopClosure (const std::string &rInfo) const
void	FireInfo (const std::string &rInfo) const
void	FireLoopClosureCheck (const std::string &rInfo) const
virtual const LocalizedRangeScanVector	GetAllProcessedScans () const
virtual MapperGraph *	GetGraph () const
virtual ScanMatcher *	GetLoopScanMatcher () const
MapperSensorManager *	GetMapperSensorManager () const
double	getParamAngleVariancePenalty ()
double	getParamCoarseAngleResolution ()
double	getParamCoarseSearchAngleOffset ()
double	getParamCorrelationSearchSpaceDimension ()
double	getParamCorrelationSearchSpaceResolution ()
double	getParamCorrelationSearchSpaceSmearDeviation ()
double	getParamDistanceVariancePenalty ()
bool	getParamDoLoopClosing ()
double	getParamFineSearchAngleOffset ()
double	getParamLinkMatchMinimumResponseFine ()
double	getParamLinkScanMaximumDistance ()
double	getParamLoopMatchMaximumVarianceCoarse ()
int	getParamLoopMatchMinimumChainSize ()
double	getParamLoopMatchMinimumResponseCoarse ()
double	getParamLoopMatchMinimumResponseFine ()
double	getParamLoopSearchMaximumDistance ()
double	getParamLoopSearchSpaceDimension ()
double	getParamLoopSearchSpaceResolution ()
double	getParamLoopSearchSpaceSmearDeviation ()
double	getParamMinimumAnglePenalty ()
double	getParamMinimumDistancePenalty ()
double	getParamMinimumTimeInterval ()
double	getParamMinimumTravelDistance ()
double	getParamMinimumTravelHeading ()
double	getParamScanBufferMaximumScanDistance ()
int	getParamScanBufferSize ()
bool	getParamUseResponseExpansion ()
bool	getParamUseScanBarycenter ()
bool	getParamUseScanMatching ()
ScanSolver *	getScanSolver ()
virtual ScanMatcher *	GetSequentialScanMatcher () const
void	Initialize (kt_double rangeThreshold)
void	LoadFromFile (const std::string &filename)
	Mapper ()
	Mapper (const std::string &rName)
virtual kt_bool	Process (LocalizedRangeScan *pScan, Matrix3 *covariance=nullptr)
virtual kt_bool	Process (Object *pObject)
kt_bool	ProcessAgainstNode (LocalizedRangeScan *pScan, const int &nodeId, Matrix3 *covariance=nullptr)
kt_bool	ProcessAgainstNodesNearBy (LocalizedRangeScan *pScan, kt_bool addScanToLocalizationBuffer=false, Matrix3 *covariance=nullptr)
kt_bool	ProcessAtDock (LocalizedRangeScan *pScan, Matrix3 *covariance=nullptr)
kt_bool	ProcessLocalization (LocalizedRangeScan *pScan, Matrix3 *covariance=nullptr)
void	RemoveListener (MapperListener *pListener)
kt_bool	RemoveNodeFromGraph (Vertex< LocalizedRangeScan > *)
virtual void	Reset ()
void	SaveToFile (const std::string &filename)
void	setParamAngleVariancePenalty (double d)
void	setParamCoarseAngleResolution (double d)
void	setParamCoarseSearchAngleOffset (double d)
void	setParamCorrelationSearchSpaceDimension (double d)
void	setParamCorrelationSearchSpaceResolution (double d)
void	setParamCorrelationSearchSpaceSmearDeviation (double d)
void	setParamDistanceVariancePenalty (double d)
void	setParamDoLoopClosing (bool b)
void	setParamFineSearchAngleOffset (double d)
void	setParamLinkMatchMinimumResponseFine (double d)
void	setParamLinkScanMaximumDistance (double d)
void	setParamLoopMatchMaximumVarianceCoarse (double d)
void	setParamLoopMatchMinimumChainSize (int i)
void	setParamLoopMatchMinimumResponseCoarse (double d)
void	setParamLoopMatchMinimumResponseFine (double d)
void	setParamLoopSearchMaximumDistance (double d)
void	setParamLoopSearchSpaceDimension (double d)
void	setParamLoopSearchSpaceResolution (double d)
void	setParamLoopSearchSpaceSmearDeviation (double d)
void	setParamMinimumAnglePenalty (double d)
void	setParamMinimumDistancePenalty (double d)
void	setParamMinimumTimeInterval (double d)
void	setParamMinimumTravelDistance (double d)
void	setParamMinimumTravelHeading (double d)
void	setParamScanBufferMaximumScanDistance (double d)
void	setParamScanBufferSize (int i)
void	setParamUseResponseExpansion (bool b)
void	setParamUseScanBarycenter (bool b)
void	setParamUseScanMatching (bool b)
void	SetScanSolver (ScanSolver *pSolver)
void	SetUseScanMatching (kt_bool val)
kt_bool	TryCloseLoop (LocalizedRangeScan *pScan, const Name &rSensorName)
virtual	~Mapper ()
Public Member Functions inherited from karto::Module
	Module (const std::string &rName)
virtual	~Module ()
Public Member Functions inherited from karto::Object
virtual const char *	GetClassName () const =0
const Name &	GetName () const
virtual kt_objecttype	GetObjectType () const =0
AbstractParameter *	GetParameter (const std::string &rName) const
virtual ParameterManager *	GetParameterManager ()
const ParameterVector &	GetParameters () const
	Object ()
	Object (const Name &rName)
	Object (const Object &)
const Object &	operator= (const Object &)
template<typename T >
void	SetParameter (const std::string &rName, T value)
virtual	~Object ()
Public Member Functions inherited from karto::NonCopyable
	NonCopyable ()
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)
virtual	~NonCopyable ()

Protected Member Functions
kt_bool	HasMovedEnough (LocalizedRangeScan *pScan, LocalizedRangeScan *pLastScan) const
void	InitializeParameters ()
template<class Archive >
void	serialize (Archive &ar, const unsigned int version)

Protected Attributes
kt_bool	m_Deserialized
kt_bool	m_Initialized
std::vector< MapperListener * >	m_Listeners
LocalizationScanVertices	m_LocalizationScanVertices
Parameter< kt_double > *	m_pAngleVariancePenalty
Parameter< kt_double > *	m_pCoarseAngleResolution
Parameter< kt_double > *	m_pCoarseSearchAngleOffset
Parameter< kt_double > *	m_pCorrelationSearchSpaceDimension
Parameter< kt_double > *	m_pCorrelationSearchSpaceResolution
Parameter< kt_double > *	m_pCorrelationSearchSpaceSmearDeviation
Parameter< kt_double > *	m_pDistanceVariancePenalty
Parameter< kt_bool > *	m_pDoLoopClosing
Parameter< kt_double > *	m_pFineSearchAngleOffset
MapperGraph *	m_pGraph
Parameter< kt_double > *	m_pLinkMatchMinimumResponseFine
Parameter< kt_double > *	m_pLinkScanMaximumDistance
Parameter< kt_double > *	m_pLoopMatchMaximumVarianceCoarse
Parameter< kt_int32u > *	m_pLoopMatchMinimumChainSize
Parameter< kt_double > *	m_pLoopMatchMinimumResponseCoarse
Parameter< kt_double > *	m_pLoopMatchMinimumResponseFine
Parameter< kt_double > *	m_pLoopSearchMaximumDistance
Parameter< kt_double > *	m_pLoopSearchSpaceDimension
Parameter< kt_double > *	m_pLoopSearchSpaceResolution
Parameter< kt_double > *	m_pLoopSearchSpaceSmearDeviation
MapperSensorManager *	m_pMapperSensorManager
Parameter< kt_double > *	m_pMinimumAnglePenalty
Parameter< kt_double > *	m_pMinimumDistancePenalty
Parameter< kt_double > *	m_pMinimumTimeInterval
Parameter< kt_double > *	m_pMinimumTravelDistance
Parameter< kt_double > *	m_pMinimumTravelHeading
Parameter< kt_double > *	m_pScanBufferMaximumScanDistance
Parameter< kt_int32u > *	m_pScanBufferSize
ScanSolver *	m_pScanOptimizer
ScanMatcher *	m_pSequentialScanMatcher
Parameter< kt_bool > *	m_pUseResponseExpansion
Parameter< kt_bool > *	m_pUseScanBarycenter
Parameter< kt_bool > *	m_pUseScanMatching

Private Member Functions
	Mapper (const Mapper &)
const Mapper &	operator= (const Mapper &)

Friends
class	boost::serialization::access
class	MapperGraph
class	ScanMatcher

Detailed Description

Definition at line 1928 of file Mapper.h.

Constructor & Destructor Documentation

Mapper() [1/3]

karto::Mapper::Mapper

(

)

Default constructor

Definition at line 2085 of file Mapper.cpp.

Mapper() [2/3]

karto::Mapper::Mapper

(

const std::string &

rName

)

Constructor a mapper with a name

Parameters

rName

mapper name

Default constructor

Definition at line 2100 of file Mapper.cpp.

~Mapper()

karto::Mapper::~Mapper ( )

virtual

Destructor

Definition at line 2115 of file Mapper.cpp.

Mapper() [3/3]

karto::Mapper::Mapper ( const Mapper &  )

private

Restrict the copy constructor

Member Function Documentation

AddListener()

void karto::Mapper::AddListener

(

MapperListener *

pListener

)

Add a listener to mapper

Parameters

pListener	Adds a listener
pListener

Definition at line 3243 of file Mapper.cpp.

AddScanToLocalizationBuffer()

void karto::Mapper::AddScanToLocalizationBuffer	(	LocalizedRangeScan *	pScan,
		Vertex< LocalizedRangeScan > *	scan_vertex
	)

Definition at line 2974 of file Mapper.cpp.

ClearLocalizationBuffer()

void karto::Mapper::ClearLocalizationBuffer

(

)

Definition at line 3003 of file Mapper.cpp.

CorrectPoses()

void karto::Mapper::CorrectPoses ( )

inline

Definition at line 2071 of file Mapper.h.

FireBeginLoopClosure()

void karto::Mapper::FireBeginLoopClosure

(

const std::string &

rInfo

)

const

Fire a message before loop closure to listeners

Parameters

rInfo

Definition at line 3295 of file Mapper.cpp.

FireDebug()

void karto::Mapper::FireDebug

(

const std::string &

rInfo

)

const

Fire a debug message to listeners

Parameters

rInfo

Definition at line 3269 of file Mapper.cpp.

FireEndLoopClosure()

void karto::Mapper::FireEndLoopClosure

(

const std::string &

rInfo

)

const

Fire a message after loop closure to listeners

Parameters

rInfo

Definition at line 3308 of file Mapper.cpp.

FireInfo()

void karto::Mapper::FireInfo

(

const std::string &

rInfo

)

const

Fire a general message to listeners

Parameters

rInfo

Definition at line 3261 of file Mapper.cpp.

FireLoopClosureCheck()

void karto::Mapper::FireLoopClosureCheck

(

const std::string &

rInfo

)

const

Fire a message upon checking for loop closure to listeners

Parameters

rInfo

Definition at line 3282 of file Mapper.cpp.

GetAllProcessedScans()

const LocalizedRangeScanVector karto::Mapper::GetAllProcessedScans ( ) const

virtual

Returns all processed scans added to the mapper. NOTE: The returned scans have their corrected pose updated.

Returns

list of scans received and processed by the mapper. If no scans have been processed, return an empty list.

Gets all the processed scans

Returns

all scans

Definition at line 3227 of file Mapper.cpp.

GetGraph()

MapperGraph * karto::Mapper::GetGraph ( ) const

virtual

Get scan link graph

Returns

graph

Definition at line 3331 of file Mapper.cpp.

GetLoopScanMatcher()

ScanMatcher * karto::Mapper::GetLoopScanMatcher ( ) const

virtual

Gets the loop scan matcher

Returns

loop scan matcher

Definition at line 3341 of file Mapper.cpp.

GetMapperSensorManager()

MapperSensorManager* karto::Mapper::GetMapperSensorManager ( ) const

inline

Gets the device manager

Returns

device manager

Definition at line 2056 of file Mapper.h.

getParamAngleVariancePenalty()

double karto::Mapper::getParamAngleVariancePenalty

(

)

Definition at line 2449 of file Mapper.cpp.

getParamCoarseAngleResolution()

double karto::Mapper::getParamCoarseAngleResolution

(

)

Definition at line 2464 of file Mapper.cpp.

getParamCoarseSearchAngleOffset()

double karto::Mapper::getParamCoarseSearchAngleOffset

(

)

Definition at line 2459 of file Mapper.cpp.

getParamCorrelationSearchSpaceDimension()

double karto::Mapper::getParamCorrelationSearchSpaceDimension

(

)

Definition at line 2410 of file Mapper.cpp.

getParamCorrelationSearchSpaceResolution()

double karto::Mapper::getParamCorrelationSearchSpaceResolution

(

)

Definition at line 2415 of file Mapper.cpp.

getParamCorrelationSearchSpaceSmearDeviation()

double karto::Mapper::getParamCorrelationSearchSpaceSmearDeviation

(

)

Definition at line 2420 of file Mapper.cpp.

getParamDistanceVariancePenalty()

double karto::Mapper::getParamDistanceVariancePenalty

(

)

Definition at line 2444 of file Mapper.cpp.

getParamDoLoopClosing()

bool karto::Mapper::getParamDoLoopClosing

(

)

Definition at line 2383 of file Mapper.cpp.

getParamFineSearchAngleOffset()

double karto::Mapper::getParamFineSearchAngleOffset

(

)

Definition at line 2454 of file Mapper.cpp.

getParamLinkMatchMinimumResponseFine()

double karto::Mapper::getParamLinkMatchMinimumResponseFine

(

)

Definition at line 2368 of file Mapper.cpp.

getParamLinkScanMaximumDistance()

double karto::Mapper::getParamLinkScanMaximumDistance

(

)

Definition at line 2373 of file Mapper.cpp.

getParamLoopMatchMaximumVarianceCoarse()

double karto::Mapper::getParamLoopMatchMaximumVarianceCoarse

(

)

Definition at line 2393 of file Mapper.cpp.

getParamLoopMatchMinimumChainSize()

int karto::Mapper::getParamLoopMatchMinimumChainSize

(

)

Definition at line 2388 of file Mapper.cpp.

getParamLoopMatchMinimumResponseCoarse()

double karto::Mapper::getParamLoopMatchMinimumResponseCoarse

(

)

Definition at line 2398 of file Mapper.cpp.

getParamLoopMatchMinimumResponseFine()

double karto::Mapper::getParamLoopMatchMinimumResponseFine

(

)

Definition at line 2403 of file Mapper.cpp.

getParamLoopSearchMaximumDistance()

double karto::Mapper::getParamLoopSearchMaximumDistance

(

)

Definition at line 2378 of file Mapper.cpp.

getParamLoopSearchSpaceDimension()

double karto::Mapper::getParamLoopSearchSpaceDimension

(

)

Definition at line 2427 of file Mapper.cpp.

getParamLoopSearchSpaceResolution()

double karto::Mapper::getParamLoopSearchSpaceResolution

(

)

Definition at line 2432 of file Mapper.cpp.

getParamLoopSearchSpaceSmearDeviation()

double karto::Mapper::getParamLoopSearchSpaceSmearDeviation

(

)

Definition at line 2437 of file Mapper.cpp.

getParamMinimumAnglePenalty()

double karto::Mapper::getParamMinimumAnglePenalty

(

)

Definition at line 2469 of file Mapper.cpp.

getParamMinimumDistancePenalty()

double karto::Mapper::getParamMinimumDistancePenalty

(

)

Definition at line 2474 of file Mapper.cpp.

getParamMinimumTimeInterval()

double karto::Mapper::getParamMinimumTimeInterval

(

)

Definition at line 2343 of file Mapper.cpp.

getParamMinimumTravelDistance()

double karto::Mapper::getParamMinimumTravelDistance

(

)

Definition at line 2348 of file Mapper.cpp.

getParamMinimumTravelHeading()

double karto::Mapper::getParamMinimumTravelHeading

(

)

Definition at line 2353 of file Mapper.cpp.

getParamScanBufferMaximumScanDistance()

double karto::Mapper::getParamScanBufferMaximumScanDistance

(

)

Definition at line 2363 of file Mapper.cpp.

getParamScanBufferSize()

int karto::Mapper::getParamScanBufferSize

(

)

Definition at line 2358 of file Mapper.cpp.

getParamUseResponseExpansion()

bool karto::Mapper::getParamUseResponseExpansion

(

)

Definition at line 2479 of file Mapper.cpp.

getParamUseScanBarycenter()

bool karto::Mapper::getParamUseScanBarycenter

(

)

Definition at line 2338 of file Mapper.cpp.

getParamUseScanMatching()

bool karto::Mapper::getParamUseScanMatching

(

)

Definition at line 2333 of file Mapper.cpp.

getScanSolver()

ScanSolver * karto::Mapper::getScanSolver

(

)

Gets scan optimizer used by mapper when closing the loop

Returns

pSolver

Definition at line 3326 of file Mapper.cpp.

GetSequentialScanMatcher()

ScanMatcher * karto::Mapper::GetSequentialScanMatcher ( ) const

virtual

Gets the sequential scan matcher

Returns

sequential scan matcher

Definition at line 3336 of file Mapper.cpp.

HasMovedEnough()

kt_bool karto::Mapper::HasMovedEnough ( LocalizedRangeScan *  pScan, LocalizedRangeScan *  pLastScan  ) const

protected

Test if the scan is "sufficiently far" from the last scan added.

Parameters

pScan	scan to be checked
pLastScan	last scan added to mapper

Returns

true if the scan is "sufficiently far" from the last scan added or the scan is the first scan to be added

Is the scan sufficiently far from the last scan?

Parameters

pScan
pLastScan

Returns

true if the scans are sufficiently far

Definition at line 3188 of file Mapper.cpp.

Initialize()

void karto::Mapper::Initialize

(

kt_double

rangeThreshold

)

Allocate memory needed for mapping

Parameters

rangeThreshold

Definition at line 2638 of file Mapper.cpp.

InitializeParameters()

void karto::Mapper::InitializeParameters ( )

protected

Definition at line 2122 of file Mapper.cpp.

LoadFromFile()

void karto::Mapper::LoadFromFile

(

const std::string &

filename

)

Load map from file

Parameters

filename

Definition at line 2679 of file Mapper.cpp.

operator=()

const Mapper& karto::Mapper::operator= ( const Mapper &  )

private

Restrict the assignment operator

Process() [1/2]

kt_bool karto::Mapper::Process ( LocalizedRangeScan *  pScan, Matrix3 *  covariance = nullptr  )

virtual

Process a localized range scan for incorporation into the map. The scan must be identified with a range finder device. Once added to a map, the corrected pose information in the localized scan will be updated to the correct pose as determined by the mapper.

Parameters

pScan

A localized range scan that has pose information associated directly with the scan data. The pose is that of the range device originating the scan. Note that the mapper will set corrected pose information in the scan object.

Returns

true if the scan was added successfully, false otherwise

Definition at line 2719 of file Mapper.cpp.

Process() [2/2]

kt_bool karto::Mapper::Process ( Object *  pObject )

virtual

Process an Object

Reimplemented from karto::Module.

Definition at line 2714 of file Mapper.cpp.

ProcessAgainstNode()

kt_bool karto::Mapper::ProcessAgainstNode	(	LocalizedRangeScan *	pScan,
		const int &	nodeId,
		Matrix3 *	covariance = nullptr
	)

Definition at line 3096 of file Mapper.cpp.

ProcessAgainstNodesNearBy()

kt_bool karto::Mapper::ProcessAgainstNodesNearBy	(	LocalizedRangeScan *	pScan,
		kt_bool	addScanToLocalizationBuffer = false,
		Matrix3 *	covariance = nullptr
	)

Definition at line 2799 of file Mapper.cpp.

ProcessAtDock()

kt_bool karto::Mapper::ProcessAtDock	(	LocalizedRangeScan *	pScan,
		Matrix3 *	covariance = nullptr
	)

Definition at line 3176 of file Mapper.cpp.

ProcessLocalization()

kt_bool karto::Mapper::ProcessLocalization	(	LocalizedRangeScan *	pScan,
		Matrix3 *	covariance = nullptr
	)

Definition at line 2887 of file Mapper.cpp.

RemoveListener()

void karto::Mapper::RemoveListener

(

MapperListener *

pListener

)

Remove a listener to mapper

Parameters

pListener	Removes a listener
pListener

Definition at line 3252 of file Mapper.cpp.

RemoveNodeFromGraph()

kt_bool karto::Mapper::RemoveNodeFromGraph

(

Vertex< LocalizedRangeScan > *

vertex_to_remove

)

Definition at line 3030 of file Mapper.cpp.

Reset()

void karto::Mapper::Reset ( )

virtual

Resets the mapper. Deallocate memory allocated in Initialize()

Implements karto::Module.

Definition at line 2689 of file Mapper.cpp.

SaveToFile()

void karto::Mapper::SaveToFile

(

const std::string &

filename

)

Save map to file

Parameters

filename

Definition at line 2671 of file Mapper.cpp.

serialize()

template<class Archive >

void karto::Mapper::serialize ( Archive &  ar, const unsigned int  version  )

inlineprotected

Definition at line 2344 of file Mapper.h.

setParamAngleVariancePenalty()

void karto::Mapper::setParamAngleVariancePenalty

(

double

d

)

Definition at line 2601 of file Mapper.cpp.

setParamCoarseAngleResolution()

void karto::Mapper::setParamCoarseAngleResolution

(

double

d

)

Definition at line 2616 of file Mapper.cpp.

setParamCoarseSearchAngleOffset()

void karto::Mapper::setParamCoarseSearchAngleOffset

(

double

d

)

Definition at line 2611 of file Mapper.cpp.

setParamCorrelationSearchSpaceDimension()

void karto::Mapper::setParamCorrelationSearchSpaceDimension

(

double

d

)

Definition at line 2562 of file Mapper.cpp.

setParamCorrelationSearchSpaceResolution()

void karto::Mapper::setParamCorrelationSearchSpaceResolution

(

double

d

)

Definition at line 2567 of file Mapper.cpp.

setParamCorrelationSearchSpaceSmearDeviation()

void karto::Mapper::setParamCorrelationSearchSpaceSmearDeviation

(

double

d

)

Definition at line 2572 of file Mapper.cpp.

setParamDistanceVariancePenalty()

void karto::Mapper::setParamDistanceVariancePenalty

(

double

d

)

Definition at line 2596 of file Mapper.cpp.

setParamDoLoopClosing()

void karto::Mapper::setParamDoLoopClosing

(

bool

b

)

Definition at line 2536 of file Mapper.cpp.

setParamFineSearchAngleOffset()

void karto::Mapper::setParamFineSearchAngleOffset

(

double

d

)

Definition at line 2606 of file Mapper.cpp.

setParamLinkMatchMinimumResponseFine()

void karto::Mapper::setParamLinkMatchMinimumResponseFine

(

double

d

)

Definition at line 2521 of file Mapper.cpp.

setParamLinkScanMaximumDistance()

void karto::Mapper::setParamLinkScanMaximumDistance

(

double

d

)

Definition at line 2526 of file Mapper.cpp.

setParamLoopMatchMaximumVarianceCoarse()

void karto::Mapper::setParamLoopMatchMaximumVarianceCoarse

(

double

d

)

Definition at line 2546 of file Mapper.cpp.

setParamLoopMatchMinimumChainSize()

void karto::Mapper::setParamLoopMatchMinimumChainSize

(

int

i

)

Definition at line 2541 of file Mapper.cpp.

setParamLoopMatchMinimumResponseCoarse()

void karto::Mapper::setParamLoopMatchMinimumResponseCoarse

(

double

d

)

Definition at line 2551 of file Mapper.cpp.

setParamLoopMatchMinimumResponseFine()

void karto::Mapper::setParamLoopMatchMinimumResponseFine

(

double

d

)

Definition at line 2556 of file Mapper.cpp.

setParamLoopSearchMaximumDistance()

void karto::Mapper::setParamLoopSearchMaximumDistance

(

double

d

)

Definition at line 2531 of file Mapper.cpp.

setParamLoopSearchSpaceDimension()

void karto::Mapper::setParamLoopSearchSpaceDimension

(

double

d

)

Definition at line 2579 of file Mapper.cpp.

setParamLoopSearchSpaceResolution()

void karto::Mapper::setParamLoopSearchSpaceResolution

(

double

d

)

Definition at line 2584 of file Mapper.cpp.

setParamLoopSearchSpaceSmearDeviation()

void karto::Mapper::setParamLoopSearchSpaceSmearDeviation

(

double

d

)

Definition at line 2589 of file Mapper.cpp.

setParamMinimumAnglePenalty()

void karto::Mapper::setParamMinimumAnglePenalty

(

double

d

)

Definition at line 2621 of file Mapper.cpp.

setParamMinimumDistancePenalty()

void karto::Mapper::setParamMinimumDistancePenalty

(

double

d

)

Definition at line 2626 of file Mapper.cpp.

setParamMinimumTimeInterval()

void karto::Mapper::setParamMinimumTimeInterval

(

double

d

)

Definition at line 2496 of file Mapper.cpp.

setParamMinimumTravelDistance()

void karto::Mapper::setParamMinimumTravelDistance

(

double

d

)

Definition at line 2501 of file Mapper.cpp.

setParamMinimumTravelHeading()

void karto::Mapper::setParamMinimumTravelHeading

(

double

d

)

Definition at line 2506 of file Mapper.cpp.

setParamScanBufferMaximumScanDistance()

void karto::Mapper::setParamScanBufferMaximumScanDistance

(

double

d

)

Definition at line 2516 of file Mapper.cpp.

setParamScanBufferSize()

void karto::Mapper::setParamScanBufferSize

(

int

i

)

Definition at line 2511 of file Mapper.cpp.

setParamUseResponseExpansion()

void karto::Mapper::setParamUseResponseExpansion

(

bool

b

)

Definition at line 2631 of file Mapper.cpp.

setParamUseScanBarycenter()

void karto::Mapper::setParamUseScanBarycenter

(

bool

b

)

Definition at line 2491 of file Mapper.cpp.

setParamUseScanMatching()

void karto::Mapper::setParamUseScanMatching

(

bool

b

)

Definition at line 2486 of file Mapper.cpp.

SetScanSolver()

void karto::Mapper::SetScanSolver

(

ScanSolver *

pSolver

)

Set scan optimizer used by mapper when closing the loop

Parameters

pSolver

Definition at line 3321 of file Mapper.cpp.

SetUseScanMatching()

void karto::Mapper::SetUseScanMatching ( kt_bool  val )

inline

Definition at line 2140 of file Mapper.h.

TryCloseLoop()

kt_bool karto::Mapper::TryCloseLoop ( LocalizedRangeScan *  pScan, const Name &  rSensorName  )

inline

Tries to close a loop using the given scan with the scans from the given sensor

Parameters

pScan
rSensorName

Definition at line 2066 of file Mapper.h.

Friends And Related Function Documentation

boost::serialization::access

friend class boost::serialization::access

friend

Definition at line 2342 of file Mapper.h.

MapperGraph

friend class MapperGraph

friend

Definition at line 1930 of file Mapper.h.

ScanMatcher

friend class ScanMatcher

friend

Definition at line 1931 of file Mapper.h.

Member Data Documentation

m_Deserialized

kt_bool karto::Mapper::m_Deserialized

protected

Definition at line 2144 of file Mapper.h.

m_Initialized

kt_bool karto::Mapper::m_Initialized

protected

Definition at line 2143 of file Mapper.h.

m_Listeners

std::vector<MapperListener*> karto::Mapper::m_Listeners

protected

Definition at line 2155 of file Mapper.h.

m_LocalizationScanVertices

LocalizationScanVertices karto::Mapper::m_LocalizationScanVertices

protected

Definition at line 2152 of file Mapper.h.

m_pAngleVariancePenalty

Parameter<kt_double>* karto::Mapper::m_pAngleVariancePenalty

protected

Definition at line 2325 of file Mapper.h.

m_pCoarseAngleResolution

Parameter<kt_double>* karto::Mapper::m_pCoarseAngleResolution

protected

Definition at line 2332 of file Mapper.h.

m_pCoarseSearchAngleOffset

Parameter<kt_double>* karto::Mapper::m_pCoarseSearchAngleOffset

protected

Definition at line 2329 of file Mapper.h.

m_pCorrelationSearchSpaceDimension

Parameter<kt_double>* karto::Mapper::m_pCorrelationSearchSpaceDimension

protected

The size of the search grid used by the matcher. Default value is 0.3 meters which tells the matcher to use a 30cm x 30cm grid.

Definition at line 2282 of file Mapper.h.

m_pCorrelationSearchSpaceResolution

Parameter<kt_double>* karto::Mapper::m_pCorrelationSearchSpaceResolution

protected

The resolution (size of a grid cell) of the correlation grid. Default value is 0.01 meters.

Definition at line 2288 of file Mapper.h.

m_pCorrelationSearchSpaceSmearDeviation

Parameter<kt_double>* karto::Mapper::m_pCorrelationSearchSpaceSmearDeviation

protected

The point readings are smeared by this value in X and Y to create a smoother response. Default value is 0.03 meters.

Definition at line 2294 of file Mapper.h.

m_pDistanceVariancePenalty

Parameter<kt_double>* karto::Mapper::m_pDistanceVariancePenalty

protected

Definition at line 2324 of file Mapper.h.

m_pDoLoopClosing

Parameter<kt_bool>* karto::Mapper::m_pDoLoopClosing

protected

Enable/disable loop closure. Default is enabled.

Definition at line 2239 of file Mapper.h.

m_pFineSearchAngleOffset

Parameter<kt_double>* karto::Mapper::m_pFineSearchAngleOffset

protected

Definition at line 2328 of file Mapper.h.

m_pGraph

MapperGraph* karto::Mapper::m_pGraph

protected

Definition at line 2150 of file Mapper.h.

m_pLinkMatchMinimumResponseFine

Parameter<kt_double>* karto::Mapper::m_pLinkMatchMinimumResponseFine

protected

Scans are linked only if the correlation response value is greater than this value. Default value is 0.4

Definition at line 2226 of file Mapper.h.

m_pLinkScanMaximumDistance

Parameter<kt_double>* karto::Mapper::m_pLinkScanMaximumDistance

protected

Maximum distance between linked scans. Scans that are farther apart will not be linked regardless of the correlation response value. Default value is 6.0 meters.

Definition at line 2233 of file Mapper.h.

m_pLoopMatchMaximumVarianceCoarse

Parameter<kt_double>* karto::Mapper::m_pLoopMatchMaximumVarianceCoarse

protected

The co-variance values for a possible loop closure have to be less than this value to consider a viable solution. This applies to the coarse search. Default value is 0.16.

Definition at line 2261 of file Mapper.h.

m_pLoopMatchMinimumChainSize

Parameter<kt_int32u>* karto::Mapper::m_pLoopMatchMinimumChainSize

protected

When the loop closure detection finds a candidate it must be part of a large set of linked scans. If the chain of scans is less than this value we do not attempt to close the loop. Default value is 10.

Definition at line 2254 of file Mapper.h.

m_pLoopMatchMinimumResponseCoarse

Parameter<kt_double>* karto::Mapper::m_pLoopMatchMinimumResponseCoarse

protected

If response is larger then this, then initiate loop closure search at the coarse resolution. Default value is 0.7.

Definition at line 2267 of file Mapper.h.

m_pLoopMatchMinimumResponseFine

Parameter<kt_double>* karto::Mapper::m_pLoopMatchMinimumResponseFine

protected

If response is larger then this, then initiate loop closure search at the fine resolution. Default value is 0.7.

Definition at line 2273 of file Mapper.h.

m_pLoopSearchMaximumDistance

Parameter<kt_double>* karto::Mapper::m_pLoopSearchMaximumDistance

protected

Scans less than this distance from the current position will be considered for a match in loop closure. Default value is 4.0 meters.

Definition at line 2246 of file Mapper.h.

m_pLoopSearchSpaceDimension

Parameter<kt_double>* karto::Mapper::m_pLoopSearchSpaceDimension

protected

The size of the search grid used by the matcher. Default value is 0.3 meters which tells the matcher to use a 30cm x 30cm grid.

Definition at line 2304 of file Mapper.h.

m_pLoopSearchSpaceResolution

Parameter<kt_double>* karto::Mapper::m_pLoopSearchSpaceResolution

protected

The resolution (size of a grid cell) of the correlation grid. Default value is 0.01 meters.

Definition at line 2310 of file Mapper.h.

m_pLoopSearchSpaceSmearDeviation

Parameter<kt_double>* karto::Mapper::m_pLoopSearchSpaceSmearDeviation

protected

The point readings are smeared by this value in X and Y to create a smoother response. Default value is 0.03 meters.

Definition at line 2316 of file Mapper.h.

m_pMapperSensorManager

MapperSensorManager* karto::Mapper::m_pMapperSensorManager

protected

Definition at line 2148 of file Mapper.h.

m_pMinimumAnglePenalty

Parameter<kt_double>* karto::Mapper::m_pMinimumAnglePenalty

protected

Definition at line 2336 of file Mapper.h.

m_pMinimumDistancePenalty

Parameter<kt_double>* karto::Mapper::m_pMinimumDistancePenalty

protected

Definition at line 2337 of file Mapper.h.

m_pMinimumTimeInterval

Parameter<kt_double>* karto::Mapper::m_pMinimumTimeInterval

protected

Sets the minimum time between scans. If a new scan's time stamp is longer than MinimumTimeInterval from the previously processed scan, the mapper will use the data from the new scan. Otherwise, it will discard the new scan if it also does not meet the minimum travel distance and heading requirements. For performance reasons, it is generally it is a good idea to only process scans if a reasonable amount of time has passed. This parameter is particularly useful when there is a need to process scans while the robot is stationary. Default value is 3600 (seconds), effectively disabling this parameter.

Definition at line 2183 of file Mapper.h.

m_pMinimumTravelDistance

Parameter<kt_double>* karto::Mapper::m_pMinimumTravelDistance

protected

Sets the minimum travel between scans. If a new scan's position is more than minimumTravelDistance from the previous scan, the mapper will use the data from the new scan. Otherwise, it will discard the new scan if it also does not meet the minimum change in heading requirement. For performance reasons, generally it is a good idea to only process scans if the robot has moved a reasonable amount. Default value is 0.2 (meters).

Definition at line 2193 of file Mapper.h.

m_pMinimumTravelHeading

Parameter<kt_double>* karto::Mapper::m_pMinimumTravelHeading

protected

Sets the minimum heading change between scans. If a new scan's heading is more than minimumTravelHeading from the previous scan, the mapper will use the data from the new scan. Otherwise, it will discard the new scan if it also does not meet the minimum travel distance requirement. For performance reasons, generally it is a good idea to only process scans if the robot has moved a reasonable amount. Default value is 10 degrees.

Definition at line 2203 of file Mapper.h.

m_pScanBufferMaximumScanDistance

Parameter<kt_double>* karto::Mapper::m_pScanBufferMaximumScanDistance

protected

Scan buffer maximum scan distance is the maximum distance between the first and last scans in the scan chain stored for matching. Default value is 20.0.

Definition at line 2220 of file Mapper.h.

m_pScanBufferSize

Parameter<kt_int32u>* karto::Mapper::m_pScanBufferSize

protected

Scan buffer size is the length of the scan chain stored for scan matching. "scanBufferSize" should be set to approximately "scanBufferMaximumScanDistance" / "minimumTravelDistance". The idea is to get an area approximately 20 meters long for scan matching. For example, if we add scans every minimumTravelDistance == 0.3 meters, then "scanBufferSize" should be 20 / 0.3 = 67.) Default value is 67.

Definition at line 2213 of file Mapper.h.

m_pScanOptimizer

ScanSolver* karto::Mapper::m_pScanOptimizer

protected

Definition at line 2151 of file Mapper.h.

m_pSequentialScanMatcher

ScanMatcher* karto::Mapper::m_pSequentialScanMatcher

protected

Definition at line 2146 of file Mapper.h.

m_pUseResponseExpansion

Parameter<kt_bool>* karto::Mapper::m_pUseResponseExpansion

protected

Definition at line 2340 of file Mapper.h.

m_pUseScanBarycenter

Parameter<kt_bool>* karto::Mapper::m_pUseScanBarycenter

protected

Default value is true.

Definition at line 2170 of file Mapper.h.

m_pUseScanMatching

Parameter<kt_bool>* karto::Mapper::m_pUseScanMatching

protected

When set to true, the mapper will use a scan matching algorithm. In most real-world situations this should be set to true so that the mapper algorithm can correct for noise and errors in odometry and scan data. In some simulator environments where the simulated scan and odometry data are very accurate, the scan matching algorithm can produce worse results. In those cases set this to false to improve results. Default value is true.

Definition at line 2165 of file Mapper.h.

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

• Mapper.h
• Mapper.cpp