Classes
struct	Candidate2D

struct	Candidate3D

class	CeresScanMatcher2D

class	CeresScanMatcher3D

struct	DiscreteScan3D

class	FastCorrelativeScanMatcher2D

class	FastCorrelativeScanMatcher3D

class	InterpolatedGrid

class	OccupiedSpaceCostFunction2D

class	OccupiedSpaceCostFunction3D

class	PrecomputationGrid2D

class	PrecomputationGrid3D

class	PrecomputationGridStack2D

class	PrecomputationGridStack3D

class	RealTimeCorrelativeScanMatcher2D

class	RealTimeCorrelativeScanMatcher3D

class	RotationalScanMatcher

class	RotationDeltaCostFunctor2D

class	RotationDeltaCostFunctor3D

struct	SearchParameters

class	TranslationDeltaCostFunctor2D

class	TranslationDeltaCostFunctor3D

Typedefs
typedef std::vector< Eigen::Array2i >	DiscreteScan2D

using	MatchingFunction = std::function< float(const transform::Rigid3f &)>

using	PointCloudAndHybridGridPointers = std::pair< const sensor::PointCloud , const HybridGrid >

Functions
PrecomputationGrid3D	ConvertToPrecomputationGrid (const HybridGrid &hybrid_grid)

proto::CeresScanMatcherOptions2D	CreateCeresScanMatcherOptions2D (common::LuaParameterDictionary *const parameter_dictionary)

proto::CeresScanMatcherOptions3D	CreateCeresScanMatcherOptions3D (common::LuaParameterDictionary *const parameter_dictionary)

proto::FastCorrelativeScanMatcherOptions2D	CreateFastCorrelativeScanMatcherOptions2D (common::LuaParameterDictionary *const parameter_dictionary)

proto::FastCorrelativeScanMatcherOptions3D	CreateFastCorrelativeScanMatcherOptions3D (common::LuaParameterDictionary *const parameter_dictionary)

std::function< float(const transform::Rigid3f &)>	CreateLowResolutionMatcher (const HybridGrid low_resolution_grid, const sensor::PointCloud points)

proto::RealTimeCorrelativeScanMatcherOptions	CreateRealTimeCorrelativeScanMatcherOptions (common::LuaParameterDictionary *const parameter_dictionary)

std::vector< DiscreteScan2D >	DiscretizeScans (const MapLimits &map_limits, const std::vector< sensor::PointCloud > &scans, const Eigen::Translation2f &initial_translation)

std::vector< sensor::PointCloud >	GenerateRotatedScans (const sensor::PointCloud &point_cloud, const SearchParameters &search_parameters)

PrecomputationGrid3D	PrecomputeGrid (const PrecomputationGrid3D &grid, const bool half_resolution, const Eigen::Array3i &shift)

Variables
std::function< float(const transform::Rigid3f &)>	CreateLowResolutionMatcher (const HybridGrid low_resolution_grid, const sensor::PointCloud points)

Typedef Documentation

◆ DiscreteScan2D

typedef std::vector<Eigen::Array2i> cartographer::mapping::scan_matching::DiscreteScan2D

Definition at line 32 of file correlative_scan_matcher_2d.h.

◆ MatchingFunction

using cartographer::mapping::scan_matching::MatchingFunction = typedef std::function<float(const transform::Rigid3f&)>

Definition at line 64 of file fast_correlative_scan_matcher_3d.h.

◆ PointCloudAndHybridGridPointers

using cartographer::mapping::scan_matching::PointCloudAndHybridGridPointers = typedef std::pair<const sensor::PointCloud*, const HybridGrid*>

Definition at line 38 of file ceres_scan_matcher_3d.h.

Function Documentation

◆ ConvertToPrecomputationGrid()

PrecomputationGrid3D cartographer::mapping::scan_matching::ConvertToPrecomputationGrid ( const HybridGrid & hybrid_grid )

Definition at line 49 of file precomputation_grid_3d.cc.

◆ CreateCeresScanMatcherOptions2D()

proto::CeresScanMatcherOptions2D cartographer::mapping::scan_matching::CreateCeresScanMatcherOptions2D ( common::LuaParameterDictionary *const parameter_dictionary )

Definition at line 37 of file ceres_scan_matcher_2d.cc.

◆ CreateCeresScanMatcherOptions3D()

proto::CeresScanMatcherOptions3D cartographer::mapping::scan_matching::CreateCeresScanMatcherOptions3D ( common::LuaParameterDictionary *const parameter_dictionary )

Definition at line 39 of file ceres_scan_matcher_3d.cc.

◆ CreateFastCorrelativeScanMatcherOptions2D()

proto::FastCorrelativeScanMatcherOptions2D cartographer::mapping::scan_matching::CreateFastCorrelativeScanMatcherOptions2D ( common::LuaParameterDictionary *const parameter_dictionary )

Definition at line 79 of file fast_correlative_scan_matcher_2d.cc.

◆ CreateFastCorrelativeScanMatcherOptions3D()

proto::FastCorrelativeScanMatcherOptions3D cartographer::mapping::scan_matching::CreateFastCorrelativeScanMatcherOptions3D ( common::LuaParameterDictionary *const parameter_dictionary )

Definition at line 37 of file fast_correlative_scan_matcher_3d.cc.

◆ CreateLowResolutionMatcher()

std::function<float(const transform::Rigid3f&)> cartographer::mapping::scan_matching::CreateLowResolutionMatcher	(	const HybridGrid *	low_resolution_grid,
		const sensor::PointCloud *	points
	)

Definition at line 23 of file low_resolution_matcher.cc.

◆ CreateRealTimeCorrelativeScanMatcherOptions()

proto::RealTimeCorrelativeScanMatcherOptions cartographer::mapping::scan_matching::CreateRealTimeCorrelativeScanMatcherOptions ( common::LuaParameterDictionary *const parameter_dictionary )

Definition at line 8 of file real_time_correlative_scan_matcher.cc.

◆ DiscretizeScans()

std::vector< DiscreteScan2D > cartographer::mapping::scan_matching::DiscretizeScans	(	const MapLimits &	map_limits,
		const std::vector< sensor::PointCloud > &	scans,
		const Eigen::Translation2f &	initial_translation
	)

Definition at line 111 of file correlative_scan_matcher_2d.cc.

◆ GenerateRotatedScans()

std::vector< sensor::PointCloud > cartographer::mapping::scan_matching::GenerateRotatedScans	(	const sensor::PointCloud &	point_cloud,
		const SearchParameters &	search_parameters
	)

Definition at line 93 of file correlative_scan_matcher_2d.cc.

◆ PrecomputeGrid()

PrecomputationGrid3D cartographer::mapping::scan_matching::PrecomputeGrid	(	const PrecomputationGrid3D &	grid,
		const bool	half_resolution,
		const Eigen::Array3i &	shift
	)

Definition at line 63 of file precomputation_grid_3d.cc.

Variable Documentation

◆ CreateLowResolutionMatcher

std::function<float(const transform::Rigid3f&)> cartographer::mapping::scan_matching::CreateLowResolutionMatcher(const HybridGrid *low_resolution_grid, const sensor::PointCloud *points)

Definition at line 30 of file low_resolution_matcher.h.

Classes

Typedefs

Functions

Variables