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mrpt-slam
Interesting stuff in this library:
See the full list of classes in mrpt::slam. Note that there are many classes in that namespace not in the library mrpt-slam, but in libraries mrpt-slam depends on. However, in you set mrpt-slam as a dependence of your project, you can be safe all mrpt::slam classes will be available to you.
See also: For Graph-SLAM, see the namespace mrpt::graphslam in the library mrpt-graphslam.
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Classes | |
struct | mrpt::detectors::CDetectorDoorCrossing::TOptions |
In this structure parameters can be changed to customize the behaviour of this algorithm. More... | |
struct | mrpt::detectors::CDetectorDoorCrossing::TDoorCrossingOutParams |
A structure used as output in this method. More... | |
class | mrpt::detectors::CDetectorDoorCrossing |
struct | mrpt::maps::CMultiMetricMap::ProxyFilterContainerByClass< SELECTED_CLASS_PTR, CONTAINER > |
Takes a const ref of a STL non-associative container of smart pointers at construction and exposes an interface mildly similar to that of another STL container containing only those elements in the original container that can be dynamic_cast ed to SELECTED_CLASS_PTR More... | |
struct | mrpt::maps::CMultiMetricMap::ProxySelectorContainerByClass< SELECTED_CLASS_PTR, CONTAINER > |
A proxy like ProxyFilterContainerByClass, but it directly appears as if it was a single smart pointer (empty if no matching object is found in the container) More... | |
class | mrpt::maps::CMultiMetricMap |
This class stores any customizable set of metric maps. More... | |
class | mrpt::maps::CRBPFParticleData |
Auxiliary class used in mrpt::maps::CMultiMetricMapPDF. More... | |
class | mrpt::slam::CGridMapAligner::TConfigParams |
The ICP algorithm configuration data. More... | |
struct | mrpt::slam::CGridMapAligner::TReturnInfo::TPairPlusDistance |
struct | mrpt::slam::CGridMapAligner::TReturnInfo |
The ICP algorithm return information. More... | |
class | mrpt::slam::CGridMapAligner |
A class for aligning two multi-metric maps (with an occupancy grid maps and a points map, at least) based on features extraction and matching. More... | |
class | mrpt::slam::CICP::TConfigParams |
The ICP algorithm configuration data. More... | |
struct | mrpt::slam::CICP::TReturnInfo |
The ICP algorithm return information. More... | |
class | mrpt::slam::CICP |
Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a point map wrt a grid map. More... | |
struct | mrpt::slam::CIncrementalMapPartitioner::TOptions |
Configuration of the algorithm: More... | |
class | mrpt::slam::CIncrementalMapPartitioner |
This class can be used to make partitions on a map/graph build from observations taken at some poses/nodes. More... | |
class | mrpt::slam::CMetricMapsAlignmentAlgorithm |
A base class for any algorithm able of maps alignment. More... | |
class | mrpt::slam::CMonteCarloLocalization2D |
Declares a class that represents a Probability Density Function (PDF) over a 2D pose (x,y,phi), using a set of weighted samples. More... | |
class | mrpt::slam::CMonteCarloLocalization3D |
Declares a class that represents a Probability Density Function (PDF) over a 3D pose (x,y,phi,yaw,pitch,roll), using a set of weighted samples. More... | |
class | mrpt::slam::COccupancyGridMapFeatureExtractor |
A class for detecting features from occupancy grid maps. More... | |
struct | mrpt::slam::CRejectionSamplingRangeOnlyLocalization::TDataPerBeacon |
Data for each beacon observation with a correspondence with the map. More... | |
class | mrpt::slam::CRejectionSamplingRangeOnlyLocalization |
An implementation of rejection sampling for generating 2D robot pose from range-only measurements within a landmarks (beacons) map. More... | |
class | mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF > |
A set of common data shared by PF implementations for both SLAM and localization. More... | |
class | mrpt::slam::TKLDParams |
Option set for KLD algorithm. More... | |
struct | mrpt::slam::TMonteCarloLocalizationParams |
The struct for passing extra simulation parameters to the prediction stage when running a particle filter. More... | |
Namespaces | |
mrpt::slam | |
Modules | |
Metric SLAM algorithms | |
Data association | |
Enumerations | |
enum | mrpt::slam::CGridMapAligner::TAlignerMethod { mrpt::slam::CGridMapAligner::amRobustMatch = 0, mrpt::slam::CGridMapAligner::amCorrelation, mrpt::slam::CGridMapAligner::amModifiedRANSAC } |
The type for selecting the grid-map alignment algorithm. More... | |
enum | mrpt::slam::TICPAlgorithm { mrpt::slam::icpClassic = 0, mrpt::slam::icpLevenbergMarquardt, mrpt::slam::icpIKF } |
The ICP algorithm selection, used in mrpt::slam::CICP::options. More... | |
Functions | |
template<class BINTYPE > | |
bool | mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs (const mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf) |
Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing. More... | |
Observations overlap functions | |
double SLAM_IMPEXP | mrpt::slam::observationsOverlap (const mrpt::obs::CObservation *o1, const mrpt::obs::CObservation *o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=NULL) |
Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions. More... | |
double | mrpt::slam::observationsOverlap (const mrpt::obs::CObservationPtr &o1, const mrpt::obs::CObservationPtr &o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=NULL) |
Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions. More... | |
double SLAM_IMPEXP | mrpt::slam::observationsOverlap (const mrpt::obs::CSensoryFrame &sf1, const mrpt::obs::CSensoryFrame &sf2, const mrpt::poses::CPose3D *pose_sf2_wrt_sf1=NULL) |
Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions. More... | |
double | mrpt::slam::observationsOverlap (const mrpt::obs::CSensoryFramePtr &sf1, const mrpt::obs::CSensoryFramePtr &sf2, const mrpt::poses::CPose3D *pose_sf2_wrt_sf1=NULL) |
Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions. More... | |
The type for selecting the grid-map alignment algorithm.
Enumerator | |
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amRobustMatch | |
amCorrelation | |
amModifiedRANSAC |
Definition at line 68 of file CGridMapAligner.h.
The ICP algorithm selection, used in mrpt::slam::CICP::options.
For details on the algorithms refer to http://www.mrpt.org/Scan_Matching_Algorithms
Enumerator | |
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icpClassic | |
icpLevenbergMarquardt | |
icpIKF |
double SLAM_IMPEXP mrpt::slam::observationsOverlap | ( | const mrpt::obs::CObservation * | o1, |
const mrpt::obs::CObservation * | o2, | ||
const mrpt::poses::CPose3D * | pose_o2_wrt_o1 = NULL |
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) |
Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
Referenced by mrpt::slam::observationsOverlap().
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inline |
Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
Definition at line 37 of file observations_overlap.h.
References mrpt::slam::observationsOverlap().
double SLAM_IMPEXP mrpt::slam::observationsOverlap | ( | const mrpt::obs::CSensoryFrame & | sf1, |
const mrpt::obs::CSensoryFrame & | sf2, | ||
const mrpt::poses::CPose3D * | pose_sf2_wrt_sf1 = NULL |
||
) |
Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
This method computes the average between each of the observations in each SF.
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inline |
Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
This method computes the average between each of the observations in each SF.
Definition at line 58 of file observations_overlap.h.
References mrpt::slam::observationsOverlap().
bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs | ( | const mrpt::obs::CActionCollection * | actions, |
const mrpt::obs::CSensoryFrame * | sf | ||
) |
Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing.
On return=true, the "m_movementDrawer" member is loaded and ready to draw samples of the increment of pose since last step. This method is smart enough to accumulate CActionRobotMovement2D or CActionRobotMovement3D, whatever comes in.
Definition at line 46 of file PF_implementations.h.
References mrpt::obs::CActionRobotMovement2D::computeFromOdometry(), mrpt::obs::CActionCollection::getActionByClass(), mrpt::obs::CActionCollection::getBestMovementEstimation(), mrpt::obs::CActionRobotMovement2D::poseChange, and THROW_EXCEPTION.
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