LaserScanGridWorld Class Reference

Tracks a robots perception of an environment. The environment is represented by a GridMap; A laser scan with transformation is expected as a sensor data. More...

#include <laser_scan_grid_world.h>

Inheritance diagram for LaserScanGridWorld:

Public Types
using	MapType = GridMap
using	Point = DiscretePoint2D

Public Member Functions
virtual void	handle_observation (TransformedLaserScan &scan)
virtual void	handle_scan_point (MapType &map, double laser_x, double laser_y, double beam_end_x, double beam_end_y, bool is_occ, double quality)
	LaserScanGridWorld (std::shared_ptr< GridCellStrategy > gcs, const GridMapParams &init_params)
virtual const MapType &	map () const
	Returns the map. More...
virtual MapType &	map ()
Public Member Functions inherited from World< TransformedLaserScan, GridMap >
virtual const RobotState &	pose () const
	Returns the robot pose. More...
virtual void	update_robot_pose (double x, double y, double theta)
virtual const World< TransformedLaserScan, GridMap > &	world () const
	Returns this world. More...

Private Attributes
MapType	_map

Detailed Description

Tracks a robots perception of an environment. The environment is represented by a GridMap; A laser scan with transformation is expected as a sensor data.

Definition at line 22 of file laser_scan_grid_world.h.

Member Typedef Documentation

using LaserScanGridWorld::MapType = GridMap

Definition at line 24 of file laser_scan_grid_world.h.

using LaserScanGridWorld::Point = DiscretePoint2D

Definition at line 25 of file laser_scan_grid_world.h.

Constructor & Destructor Documentation

LaserScanGridWorld::LaserScanGridWorld ( std::shared_ptr< GridCellStrategy >  gcs, const GridMapParams &  init_params  )

inline

Creates a world as a Map of Grid Cells.

Parameters

gcs	A shared pointer to a cell strategy.

Definition at line 32 of file laser_scan_grid_world.h.

Member Function Documentation

virtual void LaserScanGridWorld::handle_observation ( TransformedLaserScan &  scan )

inlinevirtual

Updates the map cells according to a given sensor data. Straightforward scan points projection is used.

Parameters

scan	The current scan from Laser Rangefinder.

Implements World< TransformedLaserScan, GridMap >.

Reimplemented in TinyWorld.

Definition at line 41 of file laser_scan_grid_world.h.

virtual void LaserScanGridWorld::handle_scan_point ( MapType &  map, double  laser_x, double  laser_y, double  beam_end_x, double  beam_end_y, bool  is_occ, double  quality  )

inlinevirtual

Updates a cell of a given map according to given parameters.

Parameters

map	A current map.
laser_x,lasery	Coordinates of a laser.
beam_end_x,beam_end_y	Coordinates of a current point on a scan.
is_occ	The current assumption whether the cell is occupied.
quality	A scan quality. The greater the value the more probable the transformed scan.

Reimplemented in TinyWorld.

Definition at line 62 of file laser_scan_grid_world.h.

virtual const MapType& LaserScanGridWorld::map ( ) const

inlinevirtual

Returns the map.

Implements World< TransformedLaserScan, GridMap >.

Definition at line 78 of file laser_scan_grid_world.h.

virtual MapType& LaserScanGridWorld::map ( )

inlinevirtual

Definition at line 79 of file laser_scan_grid_world.h.

Member Data Documentation

MapType LaserScanGridWorld::_map

private

Definition at line 82 of file laser_scan_grid_world.h.

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

• laser_scan_grid_world.h