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[mrpt-slam]

Detailed Description

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Library 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.

Collaboration diagram for [mrpt-slam]:

Classes

class  mrpt::slam::CDetectorDoorCrossing
 
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
 Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a point map wrt a grid map. 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::CMultiMetricMap
 This class stores any customizable set of metric maps. More...
 
class  mrpt::slam::CRBPFParticleData
 Auxiliary class used in mrpt::slam::CMultiMetricMapPDF. More...
 
class  mrpt::slam::COccupancyGridMapFeatureExtractor
 A class for detecting features from occupancy grid maps. More...
 
class  mrpt::slam::CPathPlanningCircularRobot
 An implementation of CPathPlanningMethod. More...
 
class  mrpt::slam::CPathPlanningMethod
 A virtual base class for computing the optimal path for a robot from a origin location to a target point. 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
 This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps.
 

Modules

 Metric SLAM algorithms
 
 Data association
 

Enumerations

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 CActionCollection *actions, const 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::slam::CObservation *o1, const mrpt::slam::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::slam::CObservationPtr &o1, const mrpt::slam::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::slam::CSensoryFrame &sf1, const mrpt::slam::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::slam::CSensoryFramePtr &sf1, const mrpt::slam::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...
 

Enumeration Type Documentation

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
icpClassic 
icpLevenbergMarquardt 
icpIKF 

Definition at line 44 of file CICP.h.

Function Documentation

double SLAM_IMPEXP mrpt::slam::observationsOverlap ( const mrpt::slam::CObservation o1,
const mrpt::slam::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.

Note
This is used in mrpt::slam::CIncrementalMapPartitioner

Referenced by mrpt::slam::observationsOverlap().

double mrpt::slam::observationsOverlap ( const mrpt::slam::CObservationPtr o1,
const mrpt::slam::CObservationPtr o2,
const mrpt::poses::CPose3D pose_o2_wrt_o1 = NULL 
)
inline

Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.

Note
This is used in mrpt::slam::CIncrementalMapPartitioner

Definition at line 56 of file observations_overlap.h.

References mrpt::slam::observationsOverlap(), and mrpt::slam::CObservationPtr::pointer().

double SLAM_IMPEXP mrpt::slam::observationsOverlap ( const mrpt::slam::CSensoryFrame sf1,
const mrpt::slam::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.

Note
This is used in mrpt::slam::CIncrementalMapPartitioner
double mrpt::slam::observationsOverlap ( const mrpt::slam::CSensoryFramePtr sf1,
const mrpt::slam::CSensoryFramePtr sf2,
const mrpt::poses::CPose3D pose_sf2_wrt_sf1 = NULL 
)
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.

Note
This is used in mrpt::slam::CIncrementalMapPartitioner

Definition at line 77 of file observations_overlap.h.

References mrpt::slam::observationsOverlap(), and mrpt::slam::CSensoryFramePtr::pointer().

template<class PARTICLE_TYPE , class MYSELF >
template<class BINTYPE >
bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs ( const CActionCollection actions,
const 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 70 of file PF_implementations.h.

References mrpt::slam::CActionRobotMovement2D::computeFromOdometry(), mrpt::slam::CActionCollection::getActionByClass(), mrpt::slam::CActionCollection::getBestMovementEstimation(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMean(), mrpt::utils::CProbabilityDensityFunction< TDATA, STATE_LEN >::getMeanVal(), mrpt::slam::CActionRobotMovement2D::motionModelConfiguration, mrpt::slam::CActionRobotMovement3D::poseChange, mrpt::slam::CActionRobotMovement2D::poseChange, mrpt::stlplus::smart_ptr_base< T, C, COUNTER >::present(), and THROW_EXCEPTION.




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