cartographer::mapping Namespace Reference

Namespaces
	constraints
	internal
	optimization
	scan_matching
	test
	testing

Classes
class	AccelerationCostFunction3D
class	ActiveSubmaps2D
class	ActiveSubmaps3D
struct	CellLimits
class	CollatedTrajectoryBuilder
class	ConnectedComponents
struct	ConstantYawQuaternionPlus
class	DynamicGrid
class	FlatGrid
struct	Floor
class	Grid2D
class	GridInterface
class	HybridGrid
class	HybridGridBase
class	ImuTracker
struct	IntegrateImuResult
class	LocalSlamResult2D
class	LocalSlamResult3D
class	LocalSlamResultData
class	LocalTrajectoryBuilder2D
class	LocalTrajectoryBuilder3D
class	MapBuilder
class	MapBuilderInterface
class	MapById
class	MapLimits
class	MotionFilter
class	NestedGrid
struct	NodeId
class	OverlappingSubmapsTrimmer2D
class	PoseExtrapolator
class	PoseGraph
class	PoseGraph2D
class	PoseGraph3D
class	PoseGraphInterface
class	PoseGraphTrimmer
class	ProbabilityGrid
class	ProbabilityGridRangeDataInserter2D
class	PureLocalizationTrimmer
class	Range
class	RangeDataCollator
class	RangeDataInserter3D
class	RangeDataInserterInterface
class	RotationCostFunction3D
class	Submap
class	Submap2D
class	Submap3D
class	SubmapController
struct	SubmapId
struct	Timespan
class	TrajectoryBuilderInterface
class	TrajectoryConnectivityState
struct	TrajectoryNode
struct	TrajectoryNodePose
class	Trimmable
class	XYIndexRangeIterator
struct	YawOnlyQuaternionPlus

Typedefs
template<typename ValueType >
using	GridBase = DynamicGrid< NestedGrid< FlatGrid< ValueType, 3 >, 3 > >

Functions
void	CastRays (const sensor::RangeData &range_data, const std::vector< uint16 > &hit_table, const std::vector< uint16 > &miss_table, const bool insert_free_space, ProbabilityGrid *const probability_grid)
float	ClampCorrespondenceCost (const float correspondence_cost)
float	ClampProbability (const float probability)
std::vector< uint16 >	ComputeLookupTableToApplyCorrespondenceCostOdds (float odds)
std::vector< uint16 >	ComputeLookupTableToApplyOdds (const float odds)
float	CorrespondenceCostToProbability (const float correspondence_cost)
uint16	CorrespondenceCostToValue (const float correspondence_cost)
uint16	CorrespondenceCostValueToProbabilityValue (uint16 correspondence_cost_value)
std::unique_ptr< TrajectoryBuilderInterface >	CreateGlobalTrajectoryBuilder2D (std::unique_ptr< LocalTrajectoryBuilder2D > local_trajectory_builder, const int trajectory_id, mapping::PoseGraph2D *const pose_graph, const TrajectoryBuilderInterface::LocalSlamResultCallback &local_slam_result_callback)
std::unique_ptr< TrajectoryBuilderInterface >	CreateGlobalTrajectoryBuilder3D (std::unique_ptr< LocalTrajectoryBuilder3D > local_trajectory_builder, const int trajectory_id, mapping::PoseGraph3D *const pose_graph, const TrajectoryBuilderInterface::LocalSlamResultCallback &local_slam_result_callback)
proto::GridOptions2D	CreateGridOptions2D (common::LuaParameterDictionary *const parameter_dictionary)
proto::LocalTrajectoryBuilderOptions2D	CreateLocalTrajectoryBuilderOptions2D (common::LuaParameterDictionary *const parameter_dictionary)
proto::LocalTrajectoryBuilderOptions3D	CreateLocalTrajectoryBuilderOptions3D (common::LuaParameterDictionary *parameter_dictionary)
proto::MapBuilderOptions	CreateMapBuilderOptions (common::LuaParameterDictionary *const parameter_dictionary)
proto::MotionFilterOptions	CreateMotionFilterOptions (common::LuaParameterDictionary *const parameter_dictionary)
proto::PoseGraphOptions	CreatePoseGraphOptions (common::LuaParameterDictionary *const parameter_dictionary)
proto::ProbabilityGridRangeDataInserterOptions2D	CreateProbabilityGridRangeDataInserterOptions2D (common::LuaParameterDictionary *parameter_dictionary)
proto::RangeDataInserterOptions	CreateRangeDataInserterOptions (common::LuaParameterDictionary *const parameter_dictionary)
proto::RangeDataInserterOptions3D	CreateRangeDataInserterOptions3D (common::LuaParameterDictionary *parameter_dictionary)
proto::SubmapsOptions2D	CreateSubmapsOptions2D (common::LuaParameterDictionary *const parameter_dictionary)
proto::SubmapsOptions3D	CreateSubmapsOptions3D (common::LuaParameterDictionary *parameter_dictionary)
proto::TrajectoryBuilderOptions	CreateTrajectoryBuilderOptions (common::LuaParameterDictionary *const parameter_dictionary)
std::vector< Floor >	DetectFloors (const proto::Trajectory &trajectory)
PoseGraph::Constraint::Tag	FromProto (const proto::PoseGraph::Constraint::Tag &proto)
TrajectoryNode::Data	FromProto (const proto::TrajectoryNodeData &proto)
std::vector< PoseGraph::Constraint >	FromProto (const ::google::protobuf::RepeatedPtrField< proto::PoseGraph::Constraint > &constraint_protos)
TrajectoryBuilderInterface::SensorId	FromProto (const proto::SensorId &sensor_id_proto)
std::vector< PoseGraph::Constraint >	FromProto (const ::google::protobuf::RepeatedPtrField< ::cartographer::mapping::proto::PoseGraph::Constraint > &constraint_protos)
void	GlobalTrajectoryBuilderRegisterMetrics (metrics::FamilyFactory *factory)
template<typename T , typename RangeType , typename IteratorType >
IntegrateImuResult< T >	IntegrateImu (const RangeType &imu_data, const Eigen::Transform< T, 3, Eigen::Affine > &linear_acceleration_calibration, const Eigen::Transform< T, 3, Eigen::Affine > &angular_velocity_calibration, const common::Time start_time, const common::Time end_time, IteratorType *const it)
template<typename RangeType , typename IteratorType >
IntegrateImuResult< double >	IntegrateImu (const RangeType &imu_data, const common::Time start_time, const common::Time end_time, IteratorType *const it)
template<typename TValueType >
bool	IsDefaultValue (const TValueType &v)
template<typename TElementType >
bool	IsDefaultValue (const std::vector< TElementType > &v)
float	Logit (float probability)
float	Odds (float probability)
std::ostream &	operator<< (std::ostream &os, const NodeId &v)
std::ostream &	operator<< (std::ostream &os, const SubmapId &v)
float	ProbabilityFromOdds (const float odds)
float	ProbabilityToCorrespondenceCost (const float probability)
uint8	ProbabilityToLogOddsInteger (const float probability)
uint16	ProbabilityToValue (const float probability)
uint16	ProbabilityValueToCorrespondenceCostValue (uint16 probability_value)
	TEST (TrajectoryConnectivityStateTest, UnknownTrajectory)
	TEST (TrajectoryConnectivityStateTest, NotConnected)
	TEST (TrajectoryConnectivityStateTest, Connected)
	TEST (TrajectoryConnectivityStateTest, UpdateConnectionTime)
	TEST (TrajectoryConnectivityStateTest, JoinTwoComponents)
Eigen::Array3i	To3DIndex (const int index, const int bits)
int	ToFlatIndex (const Eigen::Array3i &index, const int bits)
proto::TrajectoryNodeData	ToProto (const TrajectoryNode::Data &constant_data)
proto::PoseGraph::Constraint::Tag	ToProto (const PoseGraph::Constraint::Tag &tag)
proto::CellLimits	ToProto (const CellLimits &cell_limits)
proto::SensorId	ToProto (const TrajectoryBuilderInterface::SensorId &sensor_id)
proto::MapLimits	ToProto (const MapLimits &map_limits)
proto::PoseGraph::Constraint	ToProto (const PoseGraph::Constraint &constraint)
proto::ConnectedComponents	ToProto (std::vector< std::vector< int >> connected_components)
float	ValueToCorrespondenceCost (const uint16 value)
float	ValueToProbability (const uint16 value)

Variables
static auto *	kCeresScanMatcherCostMetric = metrics::Histogram::Null()
static auto *	kCeresScanMatcherCostMetric = metrics::Histogram::Null()
static auto *	kFastCorrelativeScanMatcherScoreMetric
static auto *	kLocalSlamLatencyMetric = metrics::Gauge::Null()
static auto *	kLocalSlamLatencyMetric = metrics::Gauge::Null()
constexpr float	kMaxCorrespondenceCost = 1.f - kMinProbability
const float	kMaxLogOdds = Logit(kMaxProbability)
constexpr float	kMaxProbability = 1.f - kMinProbability
constexpr float	kMinCorrespondenceCost = 1.f - kMaxProbability
const float	kMinLogOdds = Logit(kMinProbability)
constexpr float	kMinProbability = 0.1f
static auto *	kRealTimeCorrelativeScanMatcherScoreMetric
static auto *	kScanMatcherResidualAngleMetric = metrics::Histogram::Null()
static auto *	kScanMatcherResidualAngleMetric = metrics::Histogram::Null()
static auto *	kScanMatcherResidualDistanceMetric = metrics::Histogram::Null()
static auto *	kScanMatcherResidualDistanceMetric = metrics::Histogram::Null()
constexpr uint16	kUnknownCorrespondenceValue = kUnknownProbabilityValue
constexpr uint16	kUnknownProbabilityValue = 0
constexpr uint16	kUpdateMarker = 1u << 15
const std::vector< float > *const	kValueToCorrespondenceCost
const std::vector< float > *const	kValueToProbability

Typedef Documentation

GridBase

template<typename ValueType >

using cartographer::mapping::GridBase = typedef DynamicGrid<NestedGrid<FlatGrid<ValueType, 3>, 3> >

Definition at line 410 of file hybrid_grid.h.

Function Documentation

CastRays()

void cartographer::mapping::CastRays	(	const sensor::RangeData &	range_data,
		const std::vector< uint16 > &	hit_table,
		const std::vector< uint16 > &	miss_table,
		const bool	insert_free_space,
		ProbabilityGrid *const	probability_grid
	)

Definition at line 166 of file ray_casting.cc.

ClampCorrespondenceCost()

float cartographer::mapping::ClampCorrespondenceCost ( const float  correspondence_cost )

inline

Definition at line 75 of file probability_values.h.

ClampProbability()

float cartographer::mapping::ClampProbability ( const float  probability )

inline

Definition at line 70 of file probability_values.h.

ComputeLookupTableToApplyCorrespondenceCostOdds()

std::vector< uint16 > cartographer::mapping::ComputeLookupTableToApplyCorrespondenceCostOdds

(

float

odds

)

Definition at line 85 of file probability_values.cc.

ComputeLookupTableToApplyOdds()

std::vector< uint16 > cartographer::mapping::ComputeLookupTableToApplyOdds

(

const float

odds

)

Definition at line 73 of file probability_values.cc.

CorrespondenceCostToProbability()

float cartographer::mapping::CorrespondenceCostToProbability ( const float  correspondence_cost )

inline

Definition at line 60 of file probability_values.h.

CorrespondenceCostToValue()

uint16 cartographer::mapping::CorrespondenceCostToValue ( const float  correspondence_cost )

inline

Definition at line 85 of file probability_values.h.

CorrespondenceCostValueToProbabilityValue()

uint16 cartographer::mapping::CorrespondenceCostValueToProbabilityValue ( uint16  correspondence_cost_value )

inline

Definition at line 127 of file probability_values.h.

CreateGlobalTrajectoryBuilder2D()

std::unique_ptr< TrajectoryBuilderInterface > cartographer::mapping::CreateGlobalTrajectoryBuilder2D	(	std::unique_ptr< LocalTrajectoryBuilder2D >	local_trajectory_builder,
		const int	trajectory_id,
		mapping::PoseGraph2D *const	pose_graph,
		const TrajectoryBuilderInterface::LocalSlamResultCallback &	local_slam_result_callback
	)

Definition at line 134 of file global_trajectory_builder.cc.

CreateGlobalTrajectoryBuilder3D()

std::unique_ptr< TrajectoryBuilderInterface > cartographer::mapping::CreateGlobalTrajectoryBuilder3D	(	std::unique_ptr< LocalTrajectoryBuilder3D >	local_trajectory_builder,
		const int	trajectory_id,
		mapping::PoseGraph3D *const	pose_graph,
		const TrajectoryBuilderInterface::LocalSlamResultCallback &	local_slam_result_callback
	)

Definition at line 145 of file global_trajectory_builder.cc.

CreateGridOptions2D()

proto::GridOptions2D cartographer::mapping::CreateGridOptions2D

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 23 of file grid_2d.cc.

CreateLocalTrajectoryBuilderOptions2D()

proto::LocalTrajectoryBuilderOptions2D cartographer::mapping::CreateLocalTrajectoryBuilderOptions2D

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 28 of file local_trajectory_builder_options_2d.cc.

CreateLocalTrajectoryBuilderOptions3D()

proto::LocalTrajectoryBuilderOptions3D cartographer::mapping::CreateLocalTrajectoryBuilderOptions3D

(

common::LuaParameterDictionary *

parameter_dictionary

)

Definition at line 29 of file local_trajectory_builder_options_3d.cc.

CreateMapBuilderOptions()

proto::MapBuilderOptions cartographer::mapping::CreateMapBuilderOptions

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 57 of file map_builder.cc.

CreateMotionFilterOptions()

proto::MotionFilterOptions cartographer::mapping::CreateMotionFilterOptions

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 25 of file motion_filter.cc.

CreatePoseGraphOptions()

proto::PoseGraphOptions cartographer::mapping::CreatePoseGraphOptions

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 72 of file pose_graph.cc.

CreateProbabilityGridRangeDataInserterOptions2D()

proto::ProbabilityGridRangeDataInserterOptions2D cartographer::mapping::CreateProbabilityGridRangeDataInserterOptions2D

(

common::LuaParameterDictionary *

parameter_dictionary

)

Definition at line 32 of file probability_grid_range_data_inserter_2d.cc.

CreateRangeDataInserterOptions()

proto::RangeDataInserterOptions cartographer::mapping::CreateRangeDataInserterOptions

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 23 of file range_data_inserter_interface.cc.

CreateRangeDataInserterOptions3D()

proto::RangeDataInserterOptions3D cartographer::mapping::CreateRangeDataInserterOptions3D

(

common::LuaParameterDictionary *

parameter_dictionary

)

Definition at line 56 of file range_data_inserter_3d.cc.

CreateSubmapsOptions2D()

proto::SubmapsOptions2D cartographer::mapping::CreateSubmapsOptions2D

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 35 of file submap_2d.cc.

CreateSubmapsOptions3D()

proto::SubmapsOptions3D cartographer::mapping::CreateSubmapsOptions3D

(

common::LuaParameterDictionary *

parameter_dictionary

)

Definition at line 181 of file submap_3d.cc.

CreateTrajectoryBuilderOptions()

proto::TrajectoryBuilderOptions cartographer::mapping::CreateTrajectoryBuilderOptions

(

common::LuaParameterDictionary *const

parameter_dictionary

)

Definition at line 46 of file trajectory_builder_interface.cc.

DetectFloors()

std::vector< Floor > cartographer::mapping::DetectFloors

(

const proto::Trajectory &

trajectory

)

Definition at line 199 of file detect_floors.cc.

FromProto() [1/5]

PoseGraph::Constraint::Tag cartographer::mapping::FromProto

(

const proto::PoseGraph::Constraint::Tag &

proto

)

Definition at line 38 of file pose_graph.cc.

FromProto() [2/5]

TrajectoryNode::Data cartographer::mapping::FromProto

(

const proto::TrajectoryNodeData &

proto

)

Definition at line 51 of file trajectory_node.cc.

FromProto() [3/5]

std::vector<PoseGraph::Constraint> cartographer::mapping::FromProto

(

const ::google::protobuf::RepeatedPtrField< proto::PoseGraph::Constraint > &

constraint_protos

)

Definition at line 52 of file pose_graph.cc.

FromProto() [4/5]

TrajectoryBuilderInterface::SensorId cartographer::mapping::FromProto

(

const proto::SensorId &

sensor_id_proto

)

Definition at line 89 of file trajectory_builder_interface.cc.

FromProto() [5/5]

std::vector<PoseGraph::Constraint> cartographer::mapping::FromProto

(

const ::google::protobuf::RepeatedPtrField< ::cartographer::mapping::proto::PoseGraph::Constraint > &

constraint_protos

)

GlobalTrajectoryBuilderRegisterMetrics()

void cartographer::mapping::GlobalTrajectoryBuilderRegisterMetrics

(

metrics::FamilyFactory *

factory

)

Definition at line 156 of file global_trajectory_builder.cc.

IntegrateImu() [1/2]

template<typename T , typename RangeType , typename IteratorType >

IntegrateImuResult<T> cartographer::mapping::IntegrateImu	(	const RangeType &	imu_data,
		const Eigen::Transform< T, 3, Eigen::Affine > &	linear_acceleration_calibration,
		const Eigen::Transform< T, 3, Eigen::Affine > &	angular_velocity_calibration,
		const common::Time	start_time,
		const common::Time	end_time,
		IteratorType *const	it
	)

Definition at line 40 of file imu_integration.h.

IntegrateImu() [2/2]

template<typename RangeType , typename IteratorType >

IntegrateImuResult<double> cartographer::mapping::IntegrateImu	(	const RangeType &	imu_data,
		const common::Time	start_time,
		const common::Time	end_time,
		IteratorType *const	it
	)

Definition at line 86 of file imu_integration.h.

IsDefaultValue() [1/2]

template<typename TValueType >

bool cartographer::mapping::IsDefaultValue

(

const TValueType &

v

)

Definition at line 56 of file hybrid_grid.h.

IsDefaultValue() [2/2]

template<typename TElementType >

bool cartographer::mapping::IsDefaultValue

(

const std::vector< TElementType > &

v

)

Definition at line 62 of file hybrid_grid.h.

Logit()

float cartographer::mapping::Logit ( float  probability )

inline

Definition at line 37 of file submaps.h.

Odds()

float cartographer::mapping::Odds ( float  probability )

inline

Definition at line 48 of file probability_values.h.

operator<<() [1/2]

std::ostream& cartographer::mapping::operator<< ( std::ostream &  os, const NodeId &  v  )

inline

Definition at line 79 of file id.h.

operator<<() [2/2]

std::ostream& cartographer::mapping::operator<< ( std::ostream &  os, const SubmapId &  v  )

inline

Definition at line 107 of file id.h.

ProbabilityFromOdds()

float cartographer::mapping::ProbabilityFromOdds ( const float  odds )

inline

Definition at line 52 of file probability_values.h.

ProbabilityToCorrespondenceCost()

float cartographer::mapping::ProbabilityToCorrespondenceCost ( const float  probability )

inline

Definition at line 56 of file probability_values.h.

ProbabilityToLogOddsInteger()

uint8 cartographer::mapping::ProbabilityToLogOddsInteger ( const float  probability )

inline

Definition at line 46 of file submaps.h.

ProbabilityToValue()

uint16 cartographer::mapping::ProbabilityToValue ( const float  probability )

inline

Definition at line 91 of file probability_values.h.

ProbabilityValueToCorrespondenceCostValue()

uint16 cartographer::mapping::ProbabilityValueToCorrespondenceCostValue ( uint16  probability_value )

inline

Definition at line 111 of file probability_values.h.

TEST() [1/5]

cartographer::mapping::TEST	(	TrajectoryConnectivityStateTest	,
		UnknownTrajectory
	)

Definition at line 24 of file trajectory_connectivity_state_test.cc.

TEST() [2/5]

cartographer::mapping::TEST	(	TrajectoryConnectivityStateTest	,
		NotConnected
	)

Definition at line 33 of file trajectory_connectivity_state_test.cc.

TEST() [3/5]

cartographer::mapping::TEST	(	TrajectoryConnectivityStateTest	,
		Connected
	)

Definition at line 41 of file trajectory_connectivity_state_test.cc.

TEST() [4/5]

cartographer::mapping::TEST	(	TrajectoryConnectivityStateTest	,
		UpdateConnectionTime
	)

Definition at line 50 of file trajectory_connectivity_state_test.cc.

TEST() [5/5]

cartographer::mapping::TEST	(	TrajectoryConnectivityStateTest	,
		JoinTwoComponents
	)

Definition at line 65 of file trajectory_connectivity_state_test.cc.

To3DIndex()

Eigen::Array3i cartographer::mapping::To3DIndex ( const int  index, const int  bits  )

inline

Definition at line 47 of file hybrid_grid.h.

ToFlatIndex()

int cartographer::mapping::ToFlatIndex ( const Eigen::Array3i &  index, const int  bits  )

inline

Definition at line 40 of file hybrid_grid.h.

ToProto() [1/7]

proto::TrajectoryNodeData cartographer::mapping::ToProto

(

const TrajectoryNode::Data &

constant_data

)

Definition at line 27 of file trajectory_node.cc.

ToProto() [2/7]

proto::PoseGraph::Constraint::Tag cartographer::mapping::ToProto

(

const PoseGraph::Constraint::Tag &

tag

)

Definition at line 27 of file pose_graph.cc.

ToProto() [3/7]

proto::CellLimits cartographer::mapping::ToProto ( const CellLimits &  cell_limits )

inline

Definition at line 47 of file xy_index.h.

ToProto() [4/7]

proto::SensorId cartographer::mapping::ToProto

(

const TrajectoryBuilderInterface::SensorId &

sensor_id

)

Definition at line 61 of file trajectory_builder_interface.cc.

ToProto() [5/7]

proto::MapLimits cartographer::mapping::ToProto ( const MapLimits &  map_limits )

inline

Definition at line 92 of file map_limits.h.

ToProto() [6/7]

proto::PoseGraph::Constraint cartographer::mapping::ToProto

(

const PoseGraph::Constraint &

constraint

)

Definition at line 100 of file pose_graph.cc.

ToProto() [7/7]

proto::ConnectedComponents cartographer::mapping::ToProto

(

std::vector< std::vector< int >>

connected_components

)

Definition at line 115 of file connected_components.cc.

ValueToCorrespondenceCost()

float cartographer::mapping::ValueToCorrespondenceCost ( const uint16  value )

inline

Definition at line 107 of file probability_values.h.

ValueToProbability()

float cartographer::mapping::ValueToProbability ( const uint16  value )

inline

Definition at line 100 of file probability_values.h.

Variable Documentation

kCeresScanMatcherCostMetric [1/2]

auto* cartographer::mapping::kCeresScanMatcherCostMetric = metrics::Histogram::Null()

static

Definition at line 32 of file local_trajectory_builder_2d.cc.

kCeresScanMatcherCostMetric [2/2]

auto* cartographer::mapping::kCeresScanMatcherCostMetric = metrics::Histogram::Null()

static

Definition at line 36 of file local_trajectory_builder_3d.cc.

kFastCorrelativeScanMatcherScoreMetric

auto* cartographer::mapping::kFastCorrelativeScanMatcherScoreMetric

static

Initial value:

=
    metrics::Histogram::Null()

Definition at line 30 of file local_trajectory_builder_2d.cc.

kLocalSlamLatencyMetric [1/2]

auto* cartographer::mapping::kLocalSlamLatencyMetric = metrics::Gauge::Null()

static

Definition at line 29 of file local_trajectory_builder_2d.cc.

kLocalSlamLatencyMetric [2/2]

auto* cartographer::mapping::kLocalSlamLatencyMetric = metrics::Gauge::Null()

static

Definition at line 33 of file local_trajectory_builder_3d.cc.

kMaxCorrespondenceCost

constexpr float cartographer::mapping::kMaxCorrespondenceCost = 1.f - kMinProbability

Definition at line 67 of file probability_values.h.

kMaxLogOdds

const float cartographer::mapping::kMaxLogOdds = Logit(kMaxProbability)

Definition at line 41 of file submaps.h.

kMaxProbability

constexpr float cartographer::mapping::kMaxProbability = 1.f - kMinProbability

Definition at line 65 of file probability_values.h.

kMinCorrespondenceCost

constexpr float cartographer::mapping::kMinCorrespondenceCost = 1.f - kMaxProbability

Definition at line 66 of file probability_values.h.

kMinLogOdds

const float cartographer::mapping::kMinLogOdds = Logit(kMinProbability)

Definition at line 42 of file submaps.h.

kMinProbability

constexpr float cartographer::mapping::kMinProbability = 0.1f

Definition at line 64 of file probability_values.h.

kRealTimeCorrelativeScanMatcherScoreMetric

auto* cartographer::mapping::kRealTimeCorrelativeScanMatcherScoreMetric

static

Initial value:

=
    metrics::Histogram::Null()

Definition at line 34 of file local_trajectory_builder_3d.cc.

kScanMatcherResidualAngleMetric [1/2]

auto* cartographer::mapping::kScanMatcherResidualAngleMetric = metrics::Histogram::Null()

static

Definition at line 34 of file local_trajectory_builder_2d.cc.

kScanMatcherResidualAngleMetric [2/2]

auto* cartographer::mapping::kScanMatcherResidualAngleMetric = metrics::Histogram::Null()

static

Definition at line 38 of file local_trajectory_builder_3d.cc.

kScanMatcherResidualDistanceMetric [1/2]

auto* cartographer::mapping::kScanMatcherResidualDistanceMetric = metrics::Histogram::Null()

static

Definition at line 33 of file local_trajectory_builder_2d.cc.

kScanMatcherResidualDistanceMetric [2/2]

auto* cartographer::mapping::kScanMatcherResidualDistanceMetric = metrics::Histogram::Null()

static

Definition at line 37 of file local_trajectory_builder_3d.cc.

kUnknownCorrespondenceValue

constexpr uint16 cartographer::mapping::kUnknownCorrespondenceValue = kUnknownProbabilityValue

Definition at line 81 of file probability_values.h.

kUnknownProbabilityValue

constexpr uint16 cartographer::mapping::kUnknownProbabilityValue = 0

Definition at line 80 of file probability_values.h.

kUpdateMarker

constexpr uint16 cartographer::mapping::kUpdateMarker = 1u << 15

Definition at line 82 of file probability_values.h.

kValueToCorrespondenceCost

const std::vector< float > *const cartographer::mapping::kValueToCorrespondenceCost

Initial value:

=
    PrecomputeValueToCorrespondenceCost().release()

Definition at line 70 of file probability_values.cc.

kValueToProbability

const std::vector< float > *const cartographer::mapping::kValueToProbability

Initial value:

=
    PrecomputeValueToProbability().release()

Definition at line 67 of file probability_values.cc.