karto_scan_matcher_python Namespace Reference

Functions
def	convert_ref_scan
def	convert_ref_scans
def	make_matcher
def	match_scans
def	pose_from_tuple
def	scan_from_ros

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Function Documentation

def karto_scan_matcher_python::convert_ref_scan

(

ref_scan

)

Definition at line 68 of file __init__.py.

def karto_scan_matcher_python::convert_ref_scans

(

scans

)

Definition at line 71 of file __init__.py.

def karto_scan_matcher_python::make_matcher	(		init_scan,
			laser_pose,
			search_size,
			search_resolution
	)

@param init_scan: Initial scan used only to read parameters of laser scanner
@type init_scan: sensor_msgs.msg.LaserScan
@param laser_pose: Pose of laser wrt base frame
@type laser_pose: Tuple of form (x, y, theta)
@param search_size: Radius of square to do matching in (meters)
@param search_resolution: Resolution of grid search (meters)
@return Opaque object of type KartoScanMatcher, which can be used as an argument to repeated calls to match_scans.

Definition at line 13 of file __init__.py.

def karto_scan_matcher_python::match_scans	(		matcher,
			scan,
			init_pose,
			ref_scans
	)

@param matcher: Object returned by make_matcher
@param scan: Scan to match
@type scan: sensor_msgs.msg.LaserScan
@param init_pose: Initial pose estimate
@type init_pose: Tuple of form (x, y, theta)
@param ref_scans: Reference scans
@type ref_scans: Vector of tuples ((x, y, theta), sensor_msgs.msg.LaserScan)
@return Tuple (opt_pose, response)

Definition at line 28 of file __init__.py.

def karto_scan_matcher_python::pose_from_tuple

(

p

)

Definition at line 61 of file __init__.py.

def karto_scan_matcher_python::scan_from_ros

(

s

)

Definition at line 50 of file __init__.py.