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mrpt-slamInteresting 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 | |
| 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... | |
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 | |
| 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.
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 63 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.
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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 84 of file observations_overlap.h.
References mrpt::slam::observationsOverlap(), and mrpt::slam::CSensoryFramePtr::pointer().
| 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 78 of file PF_implementations.h.
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