Public Member Functions | Public Attributes | Protected Attributes | List of all members
GMapping::ScanMatcherProcessor Class Reference

#include <scanmatcherprocessor.h>

Public Member Functions

const ScanMatcherMapgetMap () const
 
OrientedPoint getPose () const
 
void init ()
 
ScanMatchermatcher ()
 
virtual void processScan (const RangeReading &reading)
 
 ScanMatcherProcessor (const ScanMatcherMap &m)
 
 ScanMatcherProcessor (double xmin, double ymin, double xmax, double ymax, double delta, double patchdelta)
 
void setMatchingParameters (double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, bool computeCovariance=false)
 
void setmaxMove (double mmove)
 
void setRegistrationParameters (double regScore, double critScore)
 
void setSensorMap (const SensorMap &smap, std::string sensorName="FLASER")
 
virtual ~ScanMatcherProcessor ()
 

Public Attributes

bool useICP
 

Protected Attributes

unsigned int m_beams
 
bool m_computeCovariance
 
int m_count
 
double m_critScore
 
bool m_first
 
ScanMatcherMap m_map
 
ScanMatcher m_matcher
 
double m_maxMove
 
OrientedPoint m_odoPose
 
OrientedPoint m_pose
 
double m_regScore
 
SensorMap m_sensorMap
 

Detailed Description

Definition at line 13 of file scanmatcherprocessor.h.

Constructor & Destructor Documentation

◆ ScanMatcherProcessor() [1/2]

GMapping::ScanMatcherProcessor::ScanMatcherProcessor ( const ScanMatcherMap m)

Definition at line 10 of file scanmatcherprocessor.cpp.

◆ ScanMatcherProcessor() [2/2]

GMapping::ScanMatcherProcessor::ScanMatcherProcessor ( double  xmin,
double  ymin,
double  xmax,
double  ymax,
double  delta,
double  patchdelta 
)

Definition at line 24 of file scanmatcherprocessor.cpp.

◆ ~ScanMatcherProcessor()

GMapping::ScanMatcherProcessor::~ScanMatcherProcessor ( )
virtual

Definition at line 35 of file scanmatcherprocessor.cpp.

Member Function Documentation

◆ getMap()

const ScanMatcherMap& GMapping::ScanMatcherProcessor::getMap ( ) const
inline

Definition at line 25 of file scanmatcherprocessor.h.

◆ getPose()

OrientedPoint GMapping::ScanMatcherProcessor::getPose ( ) const

Definition at line 228 of file scanmatcherprocessor.cpp.

◆ init()

void GMapping::ScanMatcherProcessor::init ( )

Definition at line 65 of file scanmatcherprocessor.cpp.

◆ matcher()

ScanMatcher& GMapping::ScanMatcherProcessor::matcher ( )
inline

Definition at line 26 of file scanmatcherprocessor.h.

◆ processScan()

void GMapping::ScanMatcherProcessor::processScan ( const RangeReading reading)
virtual

retireve the position from the reading, and compute the odometry

Definition at line 71 of file scanmatcherprocessor.cpp.

◆ setMatchingParameters()

void GMapping::ScanMatcherProcessor::setMatchingParameters ( double  urange,
double  range,
double  sigma,
int  kernsize,
double  lopt,
double  aopt,
int  iterations,
bool  computeCovariance = false 
)

Definition at line 217 of file scanmatcherprocessor.cpp.

◆ setmaxMove()

void GMapping::ScanMatcherProcessor::setmaxMove ( double  mmove)
inline

Definition at line 27 of file scanmatcherprocessor.h.

◆ setRegistrationParameters()

void GMapping::ScanMatcherProcessor::setRegistrationParameters ( double  regScore,
double  critScore 
)

Definition at line 222 of file scanmatcherprocessor.cpp.

◆ setSensorMap()

void GMapping::ScanMatcherProcessor::setSensorMap ( const SensorMap smap,
std::string  sensorName = "FLASER" 
)

Definition at line 40 of file scanmatcherprocessor.cpp.

Member Data Documentation

◆ m_beams

unsigned int GMapping::ScanMatcherProcessor::m_beams
protected

Definition at line 35 of file scanmatcherprocessor.h.

◆ m_computeCovariance

bool GMapping::ScanMatcherProcessor::m_computeCovariance
protected

Definition at line 31 of file scanmatcherprocessor.h.

◆ m_count

int GMapping::ScanMatcherProcessor::m_count
protected

Definition at line 41 of file scanmatcherprocessor.h.

◆ m_critScore

double GMapping::ScanMatcherProcessor::m_critScore
protected

Definition at line 34 of file scanmatcherprocessor.h.

◆ m_first

bool GMapping::ScanMatcherProcessor::m_first
protected

Definition at line 32 of file scanmatcherprocessor.h.

◆ m_map

ScanMatcherMap GMapping::ScanMatcherProcessor::m_map
protected

Definition at line 38 of file scanmatcherprocessor.h.

◆ m_matcher

ScanMatcher GMapping::ScanMatcherProcessor::m_matcher
protected

Definition at line 30 of file scanmatcherprocessor.h.

◆ m_maxMove

double GMapping::ScanMatcherProcessor::m_maxMove
protected

Definition at line 36 of file scanmatcherprocessor.h.

◆ m_odoPose

OrientedPoint GMapping::ScanMatcherProcessor::m_odoPose
protected

Definition at line 40 of file scanmatcherprocessor.h.

◆ m_pose

OrientedPoint GMapping::ScanMatcherProcessor::m_pose
protected

Definition at line 39 of file scanmatcherprocessor.h.

◆ m_regScore

double GMapping::ScanMatcherProcessor::m_regScore
protected

Definition at line 34 of file scanmatcherprocessor.h.

◆ m_sensorMap

SensorMap GMapping::ScanMatcherProcessor::m_sensorMap
protected

Definition at line 33 of file scanmatcherprocessor.h.

◆ useICP

bool GMapping::ScanMatcherProcessor::useICP

Definition at line 28 of file scanmatcherprocessor.h.


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


openslam_gmapping
Author(s): Cyrill Stachniss, Udo Frese, Giorgio Grisetti, Wolfram Burgard
autogenerated on Mon Feb 28 2022 22:59:20