C++ API

Page Hierarchy

• • Beluga named requirements: MotionModel
  • Beluga named requirements: Particle
  • Beluga named requirements: RandomStateDistribution
  • Beluga named requirements: DenseGrid2
  • Beluga named requirements: LaserScan
  • Beluga named requirements: LinearGrid2
  • Beluga named requirements: OccupancyGrid2d
  • Beluga named requirements: PointCloud
  • Beluga named requirements: RegularGrid
  • Beluga named requirements: PointCloud
  • Beluga named requirements: SensorModel

Full C++ API

Namespaces

• Namespace beluga

• Namespace beluga::actions

• Namespace beluga::actions::detail

• Namespace beluga::clusterizer_detail

• Namespace beluga::detail

• Namespace beluga::io

• Namespace beluga::policies

• Namespace beluga::policies::detail

• Namespace beluga::state_detail

• Namespace beluga::testing

• Namespace beluga::views

• Namespace beluga::views::detail

• Namespace beluga::weight_detail

• Namespace ciabatta

• Namespace detail

• Namespace Eigen

• Namespace ranges

• Namespace Sophus

• Namespace std

Classes and Structs

• Struct assign_fn

• Struct propagate_base_fn

• Struct propagate_fn

• Struct reweight_base_fn

• Struct reweight_fn

• Struct AmclParams

• Struct BeamModelParam

• Struct BearingModelParam

• Struct iterator::sentinel

• Template Struct ClusterCell

• Template Struct common_tuple_type

• Template Struct common_tuple_type< T, U, std::index_sequence< I… > >

• Template Struct decay_tuple_like

• Template Struct decay_tuple_like< TupleLike< Args… >, std::enable_if_t< is_tuple_like_v< std::decay_t< TupleLike< Args… > > > > >

• Template Struct CellHasher

• Struct default_weighted_mean_fn

• Template Struct make_from_state_fn

• Struct DifferentialDriveModelParam

• Template Struct has_common_tuple_type

• Template Struct has_common_tuple_type< T, U, std::void_t< common_tuple_type_t< T, U > > >

• Template Struct has_single_element

• Template Struct has_single_element< T, TupleLike< Args… >, std::enable_if_t< is_tuple_like_v< std::decay_t< TupleLike< Args… > > >, &&detail::tuple_index_found< T, Args… >, () > >

• Template Struct is_tuple_like

• Struct LandmarkBearingDetection

• Struct LandmarkModelParam

• Struct LandmarkPositionDetection

• Struct LikelihoodFieldModelParam

• Template Struct multivariate_distribution_traits

• Template Struct multivariate_distribution_traits< T, std::enable_if_t< std::is_base_of_v< Eigen::EigenBase< T >, T > > >

• Template Struct multivariate_distribution_traits< T, std::enable_if_t< std::is_base_of_v< Sophus::SE2Base< T >, T > > >

• Template Struct multivariate_distribution_traits< T, std::enable_if_t< std::is_base_of_v< Sophus::SE3Base< T >, T > > >

• Template Struct multivariate_distribution_traits< T, std::enable_if_t< std::is_base_of_v< Sophus::SO2Base< T >, T > > >

• Template Struct multivariate_distribution_traits< T, std::enable_if_t< std::is_base_of_v< Sophus::SO3Base< T >, T > > >

• Template Struct NDTCell

• Template Struct NDTModelParam

• Struct OmnidirectionalDriveModelParam

• Template Struct particle_traits

• Struct ParticleClusterizerParam

• Struct every_n_fn

• Struct every_n_policy

• Struct on_effective_size_drop_policy

• Template Struct on_motion_fn

• Template Struct on_motion_policy

• Template Struct on_motion_policy_base

• Template Struct on_motion_policy_base< Sophus::SE2< Scalar > >

• Template Struct on_motion_policy_base< Sophus::SE3< Scalar > >

• Template Struct policy

• Struct policy_base

• Template Struct spatial_hash

• Struct state_fn

• Template Struct tuple_index

• Template Struct tuple_index< T, TupleLike< Args… >, std::enable_if_t< is_tuple_like_v< std::decay_t< TupleLike< Args… > > >, &&detail::tuple_index_found< T, Args… >, () > >

• Struct as_common_tuple_indirect_fn

• Struct random_intersperse_fn

• Template Struct random_intersperse_view

• Struct random_intersperse_view::adaptor

• Struct sample_base_fn

• Struct sample_fn

• Template Struct sample_view

• Struct sample_view::cursor

• Struct take_while_kld_fn

• Struct zip_fn

• Struct weight_fn

• Template Struct hash< beluga::Numeric< T, PhantomType > >

• Template Struct numeric_limits< beluga::Numeric< T, PhantomType > >

• Template Struct tuple_element< I, beluga::CircularArray< T, N, F > >

• Template Struct tuple_size< beluga::CircularArray< T, N, F > >

• Template Class Amcl

• Template Class BaseDenseGrid2

• Template Class BaseLaserScan

• Template Class BaseLinearGrid2

• Template Class BaseOccupancyGrid2

• Template Class BasePointCloud

• Template Class BaseRegularGrid

• Template Class BaseSparsePointCloud

• Template Class BeamSensorModel

• Template Class BearingSensorModel

• Class Bresenham2i

• Template Class Bresenham2i::Line

• Class Line::iterator

• Template Class CircularArray

• Template Class DifferentialDriveModel

• Class ExponentialFilter

• Template Class IndexingIterator

• Class LandmarkMap

• Template Class LandmarkSensorModel

• Template Class LikelihoodFieldModel

• Template Class MultivariateNormalDistribution

• Template Class MultivariateNormalDistributionParam

• Template Class MultivariateUniformDistribution

• Template Class MultivariateUniformDistribution< Sophus::SE2d, Eigen::AlignedBox2d >

• Template Class MultivariateUniformDistribution< Sophus::SE2d, OccupancyGrid >

• Template Class MultivariateUniformDistribution< Sophus::SE3d, Eigen::AlignedBox3d >

• Template Class NDTSensorModel

• Template Class Numeric

• Class OmnidirectionalDriveModel

• Class ParticleClusterizer

• Template Class Ray2d

• Template Class SparseValueGrid

• Template Class spatial_hash< Sophus::SE2d, void >

• Template Class spatial_hash< Sophus::SE3d, void >

• Template Class spatial_hash< std::array< T, N >, std::enable_if_t< std::is_arithmetic_v< T >, void > >

• Template Class spatial_hash< Tuple< Types… >, std::enable_if_t< (std::is_arithmetic_v< Types >, &&…), void > >

• Class StationaryModel

• Class ThrunRecoveryProbabilityEstimator

• Template Class TupleContainer

• Template Class TupleContainer< InternalContainer, std::tuple< Types… > >

• Template Class TupleVector

• Template Class ValueGrid2

Enums

• Enum CircularArrayFeatureFlags

Functions

• Template Function beluga::cluster_based_estimate

• Template Function beluga::clusterizer_detail::assign_clusters

• Template Function beluga::clusterizer_detail::calculate_percentile_threshold

• Template Function beluga::clusterizer_detail::make_cluster_map

• Template Function beluga::clusterizer_detail::make_priority_queue

• Template Function beluga::clusterizer_detail::normalize_and_cap_weights

• Template Function beluga::detail::fit_points

• Template Function beluga::detail::floor_and_fibo_hash

• Template Function beluga::detail::get_default_neighbors_kernel

• Template Function beluga::detail::hash_impl

• Template Function beluga::detail::to_cells

• Template Function beluga::detail::tuple_index_found

• Template Function beluga::detail::tuple_index_helper

• Template Function beluga::effective_sample_size

• Template Function beluga::element

• Template Function beluga::estimate_clusters

• Template Function beluga::forward_like

• Template Function beluga::get(CircularArray<T, N, F>&)

• Template Function beluga::get(CircularArray<T, N, F>&&)

• Template Function beluga::get(const CircularArray<T, N, F>&)

• Template Function beluga::get(const CircularArray<T, N, F>&&)

• Template Function beluga::io::load_from_hdf5

• Function beluga::kld_condition

• Template Function beluga::MultivariateNormalDistribution

• Function beluga::MultivariateUniformDistribution(const Eigen::AlignedBox2d&)

• Function beluga::MultivariateUniformDistribution(const Eigen::AlignedBox3d&)

• Template Function beluga::MultivariateUniformDistribution(const BaseOccupancyGrid2<Derived>&)

• Template Function beluga::nearest_obstacle_distance_map

• Function beluga::operator&

• Template Function beluga::operator<<

• Function beluga::operator|

• Template Function beluga::swap

• Template Function beluga::testing::SE2Near(const Sophus::SE2<Scalar>&, Scalar)

• Template Function beluga::testing::SE2Near(const Sophus::SO2<Scalar>&, const Sophus::Vector2<Scalar>&, Scalar)

• Template Function beluga::testing::SO2Near

• Template Function beluga::testing::Vector2Near

• Template Function beluga::testing::Vector3Near

• Function beluga::To2d

• Function beluga::To3d

• Template Function beluga::TupleVector

• Template Function beluga::unscented_transform

• Template Function Eigen::operator<<

• Template Function Sophus::operator<<(std::ostream&, const Sophus::SO2<Scalar>&)

• Template Function Sophus::operator<<(std::ostream&, const Sophus::SE2<Scalar>&)

Variables

• Variable beluga::actions::assign

• Variable beluga::actions::normalize

• Variable beluga::actions::overlay

• Variable beluga::actions::propagate

• Variable beluga::actions::reweight

• Variable beluga::covariance

• Variable beluga::default_weighted_mean

• Variable beluga::detail::kDefaultKldZ

• Variable beluga::detail::kDefaultNeighborKernel2d

• Variable beluga::detail::kDefaultNeighborKernel3d

• Variable beluga::detail::kTupleIndexAmbiguous

• Variable beluga::detail::kTupleIndexNotFound

• Variable beluga::estimate

• Variable beluga::has_common_tuple_type_v

• Variable beluga::has_single_element_v

• Variable beluga::is_tuple_like_v

• Variable beluga::make_from_state

• Variable beluga::make_policy

• Variable beluga::mean

• Variable beluga::policies::every_n

• Variable beluga::policies::on_effective_size_drop

• Variable beluga::policies::on_motion

• Variable beluga::state

• Variable beluga::tuple_index_v

• Variable beluga::views::elements

• Variable beluga::views::random_intersperse

• Variable beluga::views::sample

• Variable beluga::views::states

• Variable beluga::views::take_evenly

• Variable beluga::views::take_while_kld

• Variable beluga::views::weights

• Variable beluga::views::zip

• Variable beluga::weight

Defines

• Define BELUGA_PROLOGUE_INCLUDED

• Define enable_borrowed_range

Typedefs

• Typedef beluga::any_policy

• Typedef beluga::BaseRegularGrid2

• Typedef beluga::BaseRegularGrid3

• Typedef beluga::BearingSensorModel2d

• Typedef beluga::BearingSensorModel3d

• Typedef beluga::Cluster

• Typedef beluga::clusterizer_detail::ClusterMap

• Typedef beluga::common_tuple_type_t

• Typedef beluga::decay_tuple_like_t

• Typedef beluga::DifferentialDriveModel2d

• Typedef beluga::DifferentialDriveModel3d

• Typedef beluga::LandmarkBearing3

• Typedef beluga::LandmarkCategory

• Typedef beluga::LandmarkMapBoundaries

• Typedef beluga::LandmarkPosition3

• Typedef beluga::LandmarkSensorModel2d

• Typedef beluga::LandmarkSensorModel3d

• Typedef beluga::NDTCell2d

• Typedef beluga::NDTCell2f

• Typedef beluga::NDTCell3d

• Typedef beluga::NDTCell3f

• Typedef beluga::NDTModelParam2d

• Typedef beluga::NDTModelParam3d

• Typedef beluga::RollingWindow

• Typedef beluga::SparseValueGrid2

• Typedef beluga::SparseValueGrid3

• Typedef beluga::state_t

• Typedef beluga::tuple_index_t

• Typedef beluga::Vector

• Typedef beluga::Weight

• Typedef beluga::weight_t

• Typedef Eigen::Matrix3X

• Typedef Eigen::Vector

• Typedef Eigen::Vector3

Directories

• Directory include

• Directory beluga

• Directory actions

• Directory algorithm

• Directory raycasting

• Directory containers

• Directory detail

• Directory motion

• Directory policies

• Directory random

• Directory sensor

• Directory data

• Directory testing

• Directory type_traits

• Directory types

• Directory utility

• Directory views

• Directory ciabatta

Files

• File 3d_embedding.hpp

• File actions.hpp

• File algorithm.hpp

• File amcl_core.hpp

• File assign.hpp

• File beam_model.hpp

• File bearing_sensor_model.hpp

• File beluga.hpp

• File bresenham.hpp

• File ciabatta.hpp

• File circular_array.hpp

• File cluster_based_estimation.hpp

• File containers.hpp

• File dense_grid.hpp

• File differential_drive_model.hpp

• File distance_map.hpp

• File effective_sample_size.hpp

• File eigen_compatibility.hpp

• File elements.hpp

• File epilogue.hpp

• File estimation.hpp

• File every_n.hpp

• File exponential_filter.hpp

• File forward_like.hpp

• File indexing_iterator.hpp

• File landmark_detection_types.hpp

• File landmark_map.hpp

• File landmark_sensor_model.hpp

• File laser_scan.hpp

• File likelihood_field_model.hpp

• File linear_grid.hpp

• File motion.hpp

• File multivariate_distribution_traits.hpp

• File multivariate_normal_distribution.hpp

• File multivariate_uniform_distribution.hpp

• File ndt_cell.hpp

• File ndt_sensor_model.hpp

• File normalize.hpp

• File occupancy_grid.hpp

• File omnidirectional_drive_model.hpp

• File on_effective_size_drop.hpp

• File on_motion.hpp

• File overlay.hpp

• File particle_traits.hpp

• File particles.hpp

• File point_cloud.hpp

• File policies.hpp

• File policy.hpp

• File primitives.hpp

• File prologue.hpp

• File propagate.hpp

• File random.hpp

• File random_intersperse.hpp

• File raycasting.hpp

• File regular_grid.hpp

• File reweight.hpp

• File sample.hpp

• File sensor.hpp

• File sophus_matchers.hpp

• File sophus_printers.hpp

• File sparse_point_cloud.hpp

• File sparse_value_grid.hpp

• File spatial_hash.hpp

• File stationary_model.hpp

• File strongly_typed_numeric.hpp

• File take_evenly.hpp

• File take_while_kld.hpp

• File testing.hpp

• File thrun_recovery_probability_estimator.hpp

• File tuple_traits.hpp

• File tuple_vector.hpp

• File type_traits.hpp

• File unscented_transform.hpp

• File value_grid.hpp

• File views.hpp

• File zip.hpp

Pages

• Beluga named requirements: MotionModel

• Beluga named requirements: Particle

• Beluga named requirements: RandomStateDistribution

• Beluga named requirements: DenseGrid2

• Beluga named requirements: LaserScan

• Beluga named requirements: LinearGrid2

• Beluga named requirements: OccupancyGrid2d

• Beluga named requirements: PointCloud

• Beluga named requirements: RegularGrid

• Beluga named requirements: PointCloud

• Beluga named requirements: SensorModel