cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D Class Reference

#include <fast_correlative_scan_matcher_2d.h>

Public Member Functions
	FastCorrelativeScanMatcher2D (const Grid2D &grid, const proto::FastCorrelativeScanMatcherOptions2D &options)
	FastCorrelativeScanMatcher2D (const FastCorrelativeScanMatcher2D &)=delete
bool	Match (const transform::Rigid2d &initial_pose_estimate, const sensor::PointCloud &point_cloud, float min_score, float *score, transform::Rigid2d *pose_estimate) const
bool	MatchFullSubmap (const sensor::PointCloud &point_cloud, float min_score, float *score, transform::Rigid2d *pose_estimate) const
FastCorrelativeScanMatcher2D &	operator= (const FastCorrelativeScanMatcher2D &)=delete
	~FastCorrelativeScanMatcher2D ()

Private Member Functions
Candidate2D	BranchAndBound (const std::vector< DiscreteScan2D > &discrete_scans, const SearchParameters &search_parameters, const std::vector< Candidate2D > &candidates, int candidate_depth, float min_score) const
std::vector< Candidate2D >	ComputeLowestResolutionCandidates (const std::vector< DiscreteScan2D > &discrete_scans, const SearchParameters &search_parameters) const
std::vector< Candidate2D >	GenerateLowestResolutionCandidates (const SearchParameters &search_parameters) const
bool	MatchWithSearchParameters (SearchParameters search_parameters, const transform::Rigid2d &initial_pose_estimate, const sensor::PointCloud &point_cloud, float min_score, float *score, transform::Rigid2d *pose_estimate) const
void	ScoreCandidates (const PrecomputationGrid2D &precomputation_grid, const std::vector< DiscreteScan2D > &discrete_scans, const SearchParameters &search_parameters, std::vector< Candidate2D > *const candidates) const

Private Attributes
MapLimits	limits_
const proto::FastCorrelativeScanMatcherOptions2D	options_
std::unique_ptr< PrecomputationGridStack2D >	precomputation_grid_stack_

Detailed Description

Definition at line 112 of file fast_correlative_scan_matcher_2d.h.

Constructor & Destructor Documentation

FastCorrelativeScanMatcher2D() [1/2]

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::FastCorrelativeScanMatcher2D	(	const Grid2D &	grid,
		const proto::FastCorrelativeScanMatcherOptions2D &	options
	)

Definition at line 188 of file fast_correlative_scan_matcher_2d.cc.

~FastCorrelativeScanMatcher2D()

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::~FastCorrelativeScanMatcher2D

(

)

Definition at line 196 of file fast_correlative_scan_matcher_2d.cc.

FastCorrelativeScanMatcher2D() [2/2]

cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::FastCorrelativeScanMatcher2D ( const FastCorrelativeScanMatcher2D &  )

delete

Member Function Documentation

BranchAndBound()

Candidate2D cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::BranchAndBound ( const std::vector< DiscreteScan2D > &  discrete_scans, const SearchParameters &  search_parameters, const std::vector< Candidate2D > &  candidates, int  candidate_depth, float  min_score  ) const

private

Definition at line 335 of file fast_correlative_scan_matcher_2d.cc.

ComputeLowestResolutionCandidates()

std::vector< Candidate2D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::ComputeLowestResolutionCandidates ( const std::vector< DiscreteScan2D > &  discrete_scans, const SearchParameters &  search_parameters  ) const

private

Definition at line 265 of file fast_correlative_scan_matcher_2d.cc.

GenerateLowestResolutionCandidates()

std::vector< Candidate2D > cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::GenerateLowestResolutionCandidates ( const SearchParameters &  search_parameters ) const

private

Definition at line 277 of file fast_correlative_scan_matcher_2d.cc.

Match()

bool cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::Match	(	const transform::Rigid2d &	initial_pose_estimate,
		const sensor::PointCloud &	point_cloud,
		float	min_score,
		float *	score,
		transform::Rigid2d *	pose_estimate
	)		const

Definition at line 198 of file fast_correlative_scan_matcher_2d.cc.

MatchFullSubmap()

bool cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::MatchFullSubmap	(	const sensor::PointCloud &	point_cloud,
		float	min_score,
		float *	score,
		transform::Rigid2d *	pose_estimate
	)		const

Definition at line 210 of file fast_correlative_scan_matcher_2d.cc.

MatchWithSearchParameters()

bool cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::MatchWithSearchParameters ( SearchParameters  search_parameters, const transform::Rigid2d &  initial_pose_estimate, const sensor::PointCloud &  point_cloud, float  min_score, float *  score, transform::Rigid2d *  pose_estimate  ) const

private

Definition at line 227 of file fast_correlative_scan_matcher_2d.cc.

operator=()

FastCorrelativeScanMatcher2D& cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::operator= ( const FastCorrelativeScanMatcher2D &  )

delete

ScoreCandidates()

void cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::ScoreCandidates ( const PrecomputationGrid2D &  precomputation_grid, const std::vector< DiscreteScan2D > &  discrete_scans, const SearchParameters &  search_parameters, std::vector< Candidate2D > *const  candidates  ) const

private

Definition at line 314 of file fast_correlative_scan_matcher_2d.cc.

Member Data Documentation

limits_

MapLimits cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::limits_

private

Definition at line 162 of file fast_correlative_scan_matcher_2d.h.

options_

const proto::FastCorrelativeScanMatcherOptions2D cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::options_

private

Definition at line 161 of file fast_correlative_scan_matcher_2d.h.

precomputation_grid_stack_

std::unique_ptr<PrecomputationGridStack2D> cartographer::mapping::scan_matching::FastCorrelativeScanMatcher2D::precomputation_grid_stack_

private

Definition at line 163 of file fast_correlative_scan_matcher_2d.h.

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

• fast_correlative_scan_matcher_2d.h
• fast_correlative_scan_matcher_2d.cc