hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod > Class Template Reference

#include <OccGridMapUtil.h>

List of all members.

Public Member Functions
void	getCompleteHessianDerivs (const Eigen::Vector3f &pose, const DataContainer &dataPoints, Eigen::Matrix3f &H, Eigen::Vector3f &dTr)
Eigen::Matrix3f	getCovarianceForPose (const Eigen::Vector3f &mapPose, const DataContainer &dataPoints)
Eigen::Matrix3f	getCovMatrixWorldCoords (const Eigen::Matrix3f &covMatMap)
float	getLikelihoodForResidual (float residual, int numDataPoints)
float	getLikelihoodForState (const Eigen::Vector3f &state, const DataContainer &dataPoints)
Eigen::Vector3f	getMapCoordsPose (const Eigen::Vector3f &worldPose) const
float	getResidualForState (const Eigen::Vector3f &state, const DataContainer &dataPoints)
const std::vector < Eigen::Vector3f > &	getSamplePoints () const
Eigen::Affine2f	getTransformForState (const Eigen::Vector3f &transVector) const
Eigen::Translation2f	getTranslationForState (const Eigen::Vector3f &transVector) const
float	getUnfilteredGridPoint (Eigen::Vector2i &gridCoords) const
float	getUnfilteredGridPoint (int index) const
Eigen::Vector2f	getWorldCoordsPoint (const Eigen::Vector2f &mapPoint) const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3f	getWorldCoordsPose (const Eigen::Vector3f &mapPose) const
float	interpMapValue (const Eigen::Vector2f &coords)
Eigen::Vector3f	interpMapValueWithDerivatives (const Eigen::Vector2f &coords)
	OccGridMapUtil (const ConcreteOccGridMap *gridMap)
void	resetCachedData ()
void	resetSamplePoints ()
	~OccGridMapUtil ()
Protected Attributes
ConcreteCacheMethod	cacheMethod
const ConcreteOccGridMap *	concreteGridMap
Eigen::Vector4f	intensities
float	mapObstacleThreshold
std::vector< Eigen::Vector3f >	samplePoints
int	size

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Detailed Description

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>
class hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >

Definition at line 40 of file OccGridMapUtil.h.

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Constructor & Destructor Documentation

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::OccGridMapUtil

(

const ConcreteOccGridMap *

gridMap

)

[inline]

Definition at line 44 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::~OccGridMapUtil

(

)

[inline]

Definition at line 52 of file OccGridMapUtil.h.

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Member Function Documentation

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

void hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getCompleteHessianDerivs	(	const Eigen::Vector3f &	pose,
		const DataContainer &	dataPoints,
		Eigen::Matrix3f &	H,
		Eigen::Vector3f &	dTr
	)		[inline]

Definition at line 64 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

Eigen::Matrix3f hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getCovarianceForPose	(	const Eigen::Vector3f &	mapPose,
		const DataContainer &	dataPoints
	)		[inline]

Definition at line 106 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

Eigen::Matrix3f hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getCovMatrixWorldCoords

(

const Eigen::Matrix3f &

covMatMap

)

[inline]

Definition at line 162 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

float hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getLikelihoodForResidual	(	float	residual,
		int	numDataPoints
	)		[inline]

Definition at line 196 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

float hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getLikelihoodForState	(	const Eigen::Vector3f &	state,
		const DataContainer &	dataPoints
	)		[inline]

Definition at line 189 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

Eigen::Vector3f hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getMapCoordsPose

(

const Eigen::Vector3f &

worldPose

)

const [inline]

Definition at line 60 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

float hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getResidualForState	(	const Eigen::Vector3f &	state,
		const DataContainer &	dataPoints
	)		[inline]

Definition at line 204 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

const std::vector<Eigen::Vector3f>& hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getSamplePoints

(

)

const [inline]

Definition at line 369 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

Eigen::Affine2f hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getTransformForState

(

const Eigen::Vector3f &

transVector

)

const [inline]

Definition at line 349 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

Eigen::Translation2f hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getTranslationForState

(

const Eigen::Vector3f &

transVector

)

const [inline]

Definition at line 354 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

float hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getUnfilteredGridPoint

(

Eigen::Vector2i &

gridCoords

)

const [inline]

Definition at line 223 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

float hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getUnfilteredGridPoint

(

int

index

)

const [inline]

Definition at line 228 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

Eigen::Vector2f hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getWorldCoordsPoint

(

const Eigen::Vector2f &

mapPoint

)

const [inline]

Definition at line 62 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW Eigen::Vector3f hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::getWorldCoordsPose

(

const Eigen::Vector3f &

mapPose

)

const [inline]

Definition at line 59 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

float hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::interpMapValue

(

const Eigen::Vector2f &

coords

)

[inline]

Definition at line 233 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

Eigen::Vector3f hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::interpMapValueWithDerivatives

(

const Eigen::Vector2f &

coords

)

[inline]

Definition at line 287 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

void hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::resetCachedData

(

)

[inline]

Definition at line 359 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

void hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::resetSamplePoints

(

)

[inline]

Definition at line 364 of file OccGridMapUtil.h.

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Member Data Documentation

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

ConcreteCacheMethod hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::cacheMethod [protected]

Definition at line 378 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

const ConcreteOccGridMap* hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::concreteGridMap [protected]

Definition at line 380 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

Eigen::Vector4f hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::intensities [protected]

Definition at line 376 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

float hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::mapObstacleThreshold [protected]

Definition at line 386 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

std::vector<Eigen::Vector3f> hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::samplePoints [protected]

Definition at line 382 of file OccGridMapUtil.h.

template<typename ConcreteOccGridMap, typename ConcreteCacheMethod>

int hectorslam::OccGridMapUtil< ConcreteOccGridMap, ConcreteCacheMethod >::size [protected]

Definition at line 384 of file OccGridMapUtil.h.

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

• OccGridMapUtil.h