hectorslam::ScanMatcher< ConcreteOccGridMapUtil > Class Template Reference

#include <ScanMatcher.h>

List of all members.

Public Member Functions
Eigen::Vector3f	matchData (const Eigen::Vector3f &beginEstimateWorld, ConcreteOccGridMapUtil &gridMapUtil, const DataContainer &dataContainer, Eigen::Matrix3f &covMatrix, int maxIterations)
	ScanMatcher (DrawInterface *drawInterfaceIn=0, HectorDebugInfoInterface *debugInterfaceIn=0)
	~ScanMatcher ()
Protected Member Functions
void	drawScan (const Eigen::Vector3f &pose, const ConcreteOccGridMapUtil &gridMapUtil, const DataContainer &dataContainer)
bool	estimateTransformationLogLh (Eigen::Vector3f &estimate, ConcreteOccGridMapUtil &gridMapUtil, const DataContainer &dataPoints)
void	updateEstimatedPose (Eigen::Vector3f &estimate, const Eigen::Vector3f &change)
Protected Attributes
HectorDebugInfoInterface *	debugInterface
DrawInterface *	drawInterface
Eigen::Vector3f	dTr
Eigen::Matrix3f	H

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Detailed Description

template<typename ConcreteOccGridMapUtil>
class hectorslam::ScanMatcher< ConcreteOccGridMapUtil >

Definition at line 42 of file ScanMatcher.h.

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Constructor & Destructor Documentation

template<typename ConcreteOccGridMapUtil>

hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::ScanMatcher	(	DrawInterface *	drawInterfaceIn = 0,
		HectorDebugInfoInterface *	debugInterfaceIn = 0
	)		[inline]

Definition at line 46 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::~ScanMatcher

(

)

[inline]

Definition at line 51 of file ScanMatcher.h.

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Member Function Documentation

template<typename ConcreteOccGridMapUtil>

void hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::drawScan	(	const Eigen::Vector3f &	pose,
		const ConcreteOccGridMapUtil &	gridMapUtil,
		const DataContainer &	dataContainer
	)		[inline, protected]

Definition at line 228 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

bool hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::estimateTransformationLogLh	(	Eigen::Vector3f &	estimate,
		ConcreteOccGridMapUtil &	gridMapUtil,
		const DataContainer &	dataPoints
	)		[inline, protected]

Definition at line 194 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

Eigen::Vector3f hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::matchData	(	const Eigen::Vector3f &	beginEstimateWorld,
		ConcreteOccGridMapUtil &	gridMapUtil,
		const DataContainer &	dataContainer,
		Eigen::Matrix3f &	covMatrix,
		int	maxIterations
	)		[inline]

Definition at line 54 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

void hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::updateEstimatedPose	(	Eigen::Vector3f &	estimate,
		const Eigen::Vector3f &	change
	)		[inline, protected]

Definition at line 223 of file ScanMatcher.h.

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Member Data Documentation

template<typename ConcreteOccGridMapUtil>

HectorDebugInfoInterface* hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::debugInterface [protected]

Definition at line 246 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

DrawInterface* hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::drawInterface [protected]

Definition at line 245 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

Eigen::Vector3f hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::dTr [protected]

Definition at line 242 of file ScanMatcher.h.

template<typename ConcreteOccGridMapUtil>

Eigen::Matrix3f hectorslam::ScanMatcher< ConcreteOccGridMapUtil >::H [protected]

Definition at line 243 of file ScanMatcher.h.

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

• ScanMatcher.h