scan_matching.h File Reference

#include <laser_slam/LocalizedScan.h>
#include <laser_slam/util.h>
#include <karto_scan_matcher/karto_scan_matcher.h>
#include <map>
#include <vector>
#include "Karto.h"
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <sensor_msgs/LaserScan.h>
#include <geometry_msgs/Pose2D.h>
#include <boost/shared_ptr.hpp>
#include <boost/optional.hpp>
#include "Core"
#include "LU"
#include "Cholesky"
#include "QR"
#include "SVD"
#include "Geometry"
#include "Eigenvalues"
#include <pose_graph/constraint_graph.h>
#include <pose_graph/graph_db.h>

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Namespaces
namespace	laser_slam
Typedefs
typedef boost::shared_ptr < karto_scan_matcher::KartoScanMatcher >	laser_slam::MatcherPtr
Functions
karto_scan_matcher::ScanMatchResult	laser_slam::globalLocalization (const pose_graph::ConstraintGraph &g, MatcherPtr local_matcher, const pose_graph::NodeSet &nodes, const ScanMap &scans, const sensor_msgs::LaserScan &scan, const tf::Pose &laser_offset, double global_resolution, double angular_resolution, double min_x, double min_y, double max_x, double max_y)
	Basically, do repeated local matches by discretizing the world using global_resolution.
karto_scan_matcher::ScanMatchResult	laser_slam::globalLocalization (const pose_graph::ConstraintGraph &g, MatcherPtr local_matcher, const pose_graph::NodeSet &nodes, const ScanMap &scans, const sensor_msgs::LaserScan &scan, const tf::Pose &laser_offset, double global_resolution, double angular_resolution)
	Basically, do repeated local matches by discretizing the world using global_resolution.
karto_scan_matcher::ScanMatchResult	laser_slam::scanMatchNodes (const pose_graph::ConstraintGraph &g, MatcherPtr matcher, const pose_graph::NodeSet &nodes, const ScanMap &scans, const sensor_msgs::LaserScan &scan, const tf::Pose &init_estimate, const tf::Pose &laser_offset)

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Detailed Description

Functions to do with laser scan matching

Author:

Bhaskara Marthi

Definition in file scan_matching.h.