Scan Matcher based on the Monte Carlo method. The focus of the scan matcher is to compare a scan and a built map; in this class the method of scan comparison is performed by comparing corresponding scan costs. More...

#include <monte_carlo_scan_matcher.h>

Inheritance diagram for MonteCarloScanMatcher:

[legend]

List of all members.

Public Member Functions
	_failed_tries_limit (failed_iter)
	_total_tries_limit (max_iter)
	MonteCarloScanMatcher (std::shared_ptr< ScanCostEstimator > estimator, unsigned failed_iter, unsigned max_iter)
	Initializes the scan matcher with a certain scan cost estimator.
virtual double	process_scan (const RobotState &init_pose, const TransformedLaserScan &scan, const GridMap &map, RobotState &pose_delta) override
Protected Member Functions
virtual unsigned	on_estimate_update (unsigned sample_num, unsigned sample_limit)=0
virtual void	sample_pose (RobotState &base_pose)=0
Private Member Functions
void	do_for_each_observer (std::function< void(ObsPtr)> op)
Private Attributes
unsigned	_failed_tries_limit
unsigned	_total_tries_limit

Detailed Description

Scan Matcher based on the Monte Carlo method. The focus of the scan matcher is to compare a scan and a built map; in this class the method of scan comparison is performed by comparing corresponding scan costs.

Definition at line 30 of file monte_carlo_scan_matcher.h.

Constructor & Destructor Documentation

MonteCarloScanMatcher::MonteCarloScanMatcher	(	std::shared_ptr< ScanCostEstimator >	estimator,
		unsigned	failed_iter,
		unsigned	max_iter
	)		`[inline]`

Initializes the scan matcher with a certain scan cost estimator.

Parameters:

estimator	An estimator of Scan Cost.
failed_iter	A limit of generated samples that have a higher cost comparing with the best estimated pose.
max_iter	A maximum number of hypothesis to be tested.

Definition at line 42 of file monte_carlo_scan_matcher.h.

Member Function Documentation

MonteCarloScanMatcher::_failed_tries_limit ( failed_iter )

MonteCarloScanMatcher::_total_tries_limit ( max_iter ) [inline]

Definition at line 45 of file monte_carlo_scan_matcher.h.

void MonteCarloScanMatcher::do_for_each_observer ( std::function< void(ObsPtr)> op ) [inline, private]

Definition at line 129 of file monte_carlo_scan_matcher.h.

virtual unsigned MonteCarloScanMatcher::on_estimate_update	(	unsigned	sample_num,
		unsigned	sample_limit
	)		`[protected, pure virtual]`

A callback invoked when a better estimate is found.

Parameters:

sample_num	Amount of tries that were complited.
sample_limit	Totla amount of tries allowed.

Implemented in TinyScanMatcher.

virtual double MonteCarloScanMatcher::process_scan	(	const RobotState &	init_pose,
		const TransformedLaserScan &	scan,
		const GridMap &	map,
		RobotState &	pose_delta
	)		`[inline, override, virtual]`