The EKFslam class provides EKF SLAM 3d from MRPT libraries. More...

#include <mrpt_ekf_slam_3d.h>

Inheritance diagram for EKFslam:

Public Member Functions
	EKFslam ()
	constructor More...

void	init3Dwindow ()
	init 3D window from mrpt lib More...

void	landmark_to_3d (const mrpt::slam::CRangeBearingKFSLAM::KFArray_FEAT &lm, mrpt::math::TPoint3D &p)
	convert landmark to 3d point More...

void	observation (mrpt::obs::CSensoryFrame::Ptr _sf, mrpt::obs::CObservationOdometry::Ptr _odometry)
	calculate the actions from odometry model for current observation More...

void	read_iniFile (std::string ini_filename)
	read ini file More...

void	run3Dwindow ()
	run 3D window update from mrpt lib More...

virtual	~EKFslam ()
	destructor More...

Protected Attributes
mrpt::obs::CActionCollection::Ptr	action
	actions More...

bool	CAMERA_3DSCENE_FOLLOWS_ROBOT

mrpt::math::CMatrixDouble	fullCov_
	full covariance matrix More...

mrpt::math::CVectorDouble	fullState_
	full state vector More...

std::map< unsigned int, mrpt::maps::CLandmark::TLandmarkID >	LM_IDs_
	vector of the landmarks ID More...

std::vector< mrpt::math::TPoint3D >	LMs_

mrpt::slam::CRangeBearingKFSLAM	mapping
	EKF slam 3d class. More...

std::vector< mrpt::math::TPose3D >	meanPath

mrpt::obs::CActionRobotMovement3D::TMotionModelOptions	motion_model_options_
	used with odom value motion noise More...

mrpt::poses::CPose3D	odomLastObservation_
	last observation of odometry More...

mrpt::poses::CPose3DQuatPDFGaussian	robotPose_
	current robot pose More...

mrpt::obs::CSensoryFrame::Ptr	sf
	observations More...

bool	SHOW_3D_LIVE

mrpt::system::TTimeStamp	timeLastUpdate_
	last update of the pose and map More...

mrpt::gui::CDisplayWindow3D::Ptr	win3d
	MRPT window. More...

Detailed Description

The EKFslam class provides EKF SLAM 3d from MRPT libraries.

Definition at line 35 of file mrpt_ekf_slam_3d.h.

Constructor & Destructor Documentation

◆ EKFslam()

EKFslam::EKFslam ( )

constructor

Definition at line 11 of file mrpt_ekf_slam_3d.cpp.

◆ ~EKFslam()

EKFslam::~EKFslam ( )

virtual

destructor

Definition at line 37 of file mrpt_ekf_slam_3d.cpp.

Member Function Documentation

◆ init3Dwindow()

void EKFslam::init3Dwindow ( )

init 3D window from mrpt lib

Definition at line 95 of file mrpt_ekf_slam_3d.cpp.

◆ landmark_to_3d()

void EKFslam::landmark_to_3d	(	const mrpt::slam::CRangeBearingKFSLAM::KFArray_FEAT &	lm,
		mrpt::math::TPoint3D &	p
	)

convert landmark to 3d point

Definition at line 210 of file mrpt_ekf_slam_3d.cpp.

◆ observation()

void EKFslam::observation	(	mrpt::obs::CSensoryFrame::Ptr	_sf,
		mrpt::obs::CObservationOdometry::Ptr	_odometry
	)

calculate the actions from odometry model for current observation

Parameters

_sf	current observation
_odometry	raw odometry

Definition at line 70 of file mrpt_ekf_slam_3d.cpp.

◆ read_iniFile()

void EKFslam::read_iniFile ( std::string ini_filename )

read ini file

Parameters

ini_filename the name of the ini file to read

Definition at line 39 of file mrpt_ekf_slam_3d.cpp.

◆ run3Dwindow()

void EKFslam::run3Dwindow ( )

run 3D window update from mrpt lib

Definition at line 106 of file mrpt_ekf_slam_3d.cpp.

Member Data Documentation

◆ action

mrpt::obs::CActionCollection::Ptr EKFslam::action

protected

actions

Definition at line 82 of file mrpt_ekf_slam_3d.h.

◆ CAMERA_3DSCENE_FOLLOWS_ROBOT

bool EKFslam::CAMERA_3DSCENE_FOLLOWS_ROBOT

protected

Definition at line 92 of file mrpt_ekf_slam_3d.h.

◆ fullCov_

mrpt::math::CMatrixDouble EKFslam::fullCov_

protected

full covariance matrix

Definition at line 98 of file mrpt_ekf_slam_3d.h.

◆ fullState_

mrpt::math::CVectorDouble EKFslam::fullState_

protected

full state vector

Definition at line 99 of file mrpt_ekf_slam_3d.h.

◆ LM_IDs_

std::map<unsigned int, mrpt::maps::CLandmark::TLandmarkID> EKFslam::LM_IDs_

protected

vector of the landmarks ID

Definition at line 97 of file mrpt_ekf_slam_3d.h.

◆ LMs_

std::vector<mrpt::math::TPoint3D> EKFslam::LMs_

protected

vector of the landmarks

Definition at line 95 of file mrpt_ekf_slam_3d.h.

◆ mapping

mrpt::slam::CRangeBearingKFSLAM EKFslam::mapping

protected

EKF slam 3d class.

Definition at line 77 of file mrpt_ekf_slam_3d.h.

◆ meanPath

std::vector<mrpt::math::TPose3D> EKFslam::meanPath

protected

Definition at line 93 of file mrpt_ekf_slam_3d.h.

◆ motion_model_options_

mrpt::obs::CActionRobotMovement3D::TMotionModelOptions EKFslam::motion_model_options_

protected

used with odom value motion noise

Definition at line 88 of file mrpt_ekf_slam_3d.h.

◆ odomLastObservation_

mrpt::poses::CPose3D EKFslam::odomLastObservation_

protected

last observation of odometry

Definition at line 86 of file mrpt_ekf_slam_3d.h.

◆ robotPose_

mrpt::poses::CPose3DQuatPDFGaussian EKFslam::robotPose_

protected

current robot pose

Definition at line 94 of file mrpt_ekf_slam_3d.h.

◆ sf

mrpt::obs::CSensoryFrame::Ptr EKFslam::sf

protected

observations

Definition at line 83 of file mrpt_ekf_slam_3d.h.

◆ SHOW_3D_LIVE

bool EKFslam::SHOW_3D_LIVE

protected

Definition at line 91 of file mrpt_ekf_slam_3d.h.

◆ timeLastUpdate_

mrpt::system::TTimeStamp EKFslam::timeLastUpdate_

protected

last update of the pose and map

Definition at line 80 of file mrpt_ekf_slam_3d.h.

◆ win3d

mrpt::gui::CDisplayWindow3D::Ptr EKFslam::win3d

protected

MRPT window.

Definition at line 90 of file mrpt_ekf_slam_3d.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ EKFslam()

◆ ~EKFslam()

Member Function Documentation

◆ init3Dwindow()

◆ landmark_to_3d()

◆ observation()

◆ read_iniFile()

◆ run3Dwindow()

Member Data Documentation

◆ action

◆ CAMERA_3DSCENE_FOLLOWS_ROBOT

◆ fullCov_

◆ fullState_

◆ LM_IDs_

◆ LMs_

◆ mapping

◆ meanPath

◆ motion_model_options_

◆ odomLastObservation_

◆ robotPose_

◆ sf

◆ SHOW_3D_LIVE

◆ timeLastUpdate_

◆ win3d