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mrpt::slam Namespace Reference

Detailed Description

This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps.

Namespaces

 detail
 

Classes

struct  CBeaconPtr
 
class  CBeacon
 The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. More...
 
struct  CBeaconMapPtr
 
class  CBeaconMap
 A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM). More...
 
struct  CColouredOctoMapPtr
 
class  CColouredOctoMap
 A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...
 
struct  CColouredPointsMapPtr
 
class  CColouredPointsMap
 A map of 2D/3D points with individual colours (RGB). More...
 
struct  CGasConcentrationGridMap2DPtr
 
class  CGasConcentrationGridMap2D
 CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More...
 
struct  CHeightGridMap2DPtr
 
struct  THeightGridmapCell
 The contents of each cell in a CHeightGridMap2D map. More...
 
class  CHeightGridMap2D
 A mesh representation of a surface which keeps the estimated height for each (x,y) location. More...
 
struct  CLogOddsGridMap2D
 A generic provider of log-odds grid-map maintainance functions. More...
 
struct  CLogOddsGridMapLUT
 One static instance of this struct should exist in any class implementing CLogOddsGridMap2D to hold the Look-up-tables (LUTs) for log-odss Bayesian update. More...
 
struct  COccupancyGridMap2DPtr
 
class  COccupancyGridMap2D
 A class for storing an occupancy grid map. More...
 
struct  COctoMapPtr
 
class  COctoMap
 A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...
 
class  COctoMapBase
 A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...
 
struct  CPointsMapPtr
 
class  CPointsMap
 A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. More...
 
struct  CRandomFieldGridMap2DPtr
 
struct  TRandomFieldCell
 The contents of each cell in a CRandomFieldGridMap2D map. More...
 
class  CRandomFieldGridMap2D
 CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property which is estimated by this map, either as a simple value or as a probility distribution (for each cell). More...
 
struct  CReflectivityGridMap2DPtr
 
class  CReflectivityGridMap2D
 A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor). More...
 
struct  CSimplePointsMapPtr
 
class  CSimplePointsMap
 A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...
 
struct  CWeightedPointsMapPtr
 
class  CWeightedPointsMap
 A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...
 
struct  CWirelessPowerGridMap2DPtr
 
class  CWirelessPowerGridMap2D
 CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area. More...
 
struct  CActionPtr
 
class  CAction
 Declares a class for storing a robot action. More...
 
struct  CActionCollectionPtr
 
class  CActionCollection
 Declares a class for storing a collection of robot actions. More...
 
struct  CActionRobotMovement2DPtr
 
class  CActionRobotMovement2D
 Represents a probabilistic 2D movement of the robot mobile base. More...
 
struct  CActionRobotMovement3DPtr
 
class  CActionRobotMovement3D
 Represents a probabilistic 3D (6D) movement. More...
 
struct  TMatchingParams
 Parameters for the determination of matchings between point clouds, etc. More...
 
struct  TMatchingExtraResults
 Additional results from the determination of matchings between point clouds, etc., apart from the pairings themselves. More...
 
struct  CMetricMapPtr
 
class  CMetricMap
 Declares a virtual base class for all metric maps storage classes. More...
 
class  mrptEventMetricMapClear
 Event emitted by a metric up upon call of clear() More...
 
class  mrptEventMetricMapInsert
 Event emitted by a metric up upon a succesful call to insertObservation() More...
 
struct  CObservationPtr
 
class  CObservation
 Declares a class that represents any robot's observation. More...
 
struct  T2DScanProperties
 Auxiliary struct that holds all the relevant geometry information about a 2D scan. More...
 
struct  CObservation2DRangeScanPtr
 
class  CObservation2DRangeScan
 A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner). More...
 
struct  CObservation3DRangeScanPtr
 
class  CObservation3DRangeScan
 Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e.g. More...
 
struct  CObservation6DFeaturesPtr
 
class  CObservation6DFeatures
 An observation of one or more "features" or "objects", possibly identified with a unique ID, whose relative SE(3) pose is observed with respect to the sensor. More...
 
struct  CObservationBatteryStatePtr
 
class  CObservationBatteryState
 This represents a measurement of the batteries on the robot. More...
 
struct  CObservationBeaconRangesPtr
 
class  CObservationBeaconRanges
 Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More...
 
struct  CObservationBearingRangePtr
 
class  CObservationBearingRange
 This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. More...
 
struct  CObservationCANBusJ1939Ptr
 
class  CObservationCANBusJ1939
 This class stores a message from a CAN BUS with the protocol J1939. More...
 
struct  CObservationCommentPtr
 
class  CObservationComment
 This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. More...
 
struct  CObservationGasSensorsPtr
 
class  CObservationGasSensors
 Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More...
 
struct  CObservationGPSPtr
 
class  CObservationGPS
 Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading. More...
 
struct  CObservationImagePtr
 
class  CObservationImage
 Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. More...
 
struct  CObservationIMUPtr
 
class  CObservationIMU
 This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers. More...
 
struct  CObservationOdometryPtr
 
class  CObservationOdometry
 An observation of the current (cumulative) odometry for a wheeled robot. More...
 
struct  CObservationRangePtr
 
class  CObservationRange
 Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More...
 
struct  CObservationRawDAQPtr
 
class  CObservationRawDAQ
 Store raw data from a Data Acquisition (DAQ) device, such that input or output analog and digital channels, counters from encoders, etc. More...
 
struct  CObservationReflectivityPtr
 
class  CObservationReflectivity
 Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. More...
 
struct  CObservationRFIDPtr
 
class  CObservationRFID
 This represents one or more RFID tags observed by a receiver. More...
 
struct  CObservationRGBD360Ptr
 
class  CObservationRGBD360
 Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from a set of RGBD sensors. More...
 
struct  CObservationStereoImagesPtr
 
class  CObservationStereoImages
 Observation class for either a pair of left+right or left+disparity images from a stereo camera. More...
 
struct  TStereoImageFeatures
 
struct  CObservationStereoImagesFeaturesPtr
 
class  CObservationStereoImagesFeatures
 Declares a class derived from "CObservation" that encapsules a pair of cameras and a set of matched image features extracted from them. More...
 
struct  CObservationWindSensorPtr
 
class  CObservationWindSensor
 Declares a class derived from "CObservation" that represents the wind measurements taken on the robot by an anemometer. More...
 
struct  CObservationWirelessPowerPtr
 
class  CObservationWirelessPower
 This represents a measurement of the wireless strength perceived by the robot. More...
 
struct  CRawlogPtr
 
class  CRawlog
 This class stores a rawlog (robotic datasets) in one of two possible formats: More...
 
struct  CSensoryFramePtr
 
class  CSensoryFrame
 Declares a class for storing a "sensory frame", a set of "observations" taken by the robot approximately at the same time as one "snapshot" of the environment. More...
 
struct  CSimpleMapPtr
 
class  CSimpleMap
 This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. More...
 
class  CSinCosLookUpTableFor2DScans
 A smart look-up-table (LUT) of sin/cos values for 2D laser scans. More...
 
class  CDetectorDoorCrossing
 
class  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  CICP
 Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a point map wrt a grid map. More...
 
struct  CIncrementalMapPartitionerPtr
 
class  CIncrementalMapPartitioner
 This class can be used to make partitions on a map/graph build from observations taken at some poses/nodes. More...
 
class  CMetricMapBuilder
 This virtual class is the base for SLAM implementations. More...
 
class  CMetricMapBuilderICP
 A class for very simple 2D SLAM based on ICP. More...
 
class  CMetricMapBuilderRBPF
 This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM). More...
 
class  CMetricMapsAlignmentAlgorithm
 A base class for any algorithm able of maps alignment. More...
 
class  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  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...
 
struct  CMultiMetricMapPtr
 
class  CMultiMetricMap
 This class stores any customizable set of metric maps. More...
 
struct  TMetricMapInitializer
 Each structure of this kind will determine the kind (and initial configuration) of one map to be build into a CMultiMetricMap object. More...
 
class  TSetOfMetricMapInitializers
 A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and "CMultiMetricMap::setListOfMaps" for effectively creating the list of desired maps. More...
 
struct  CRBPFParticleDataPtr
 
class  CRBPFParticleData
 Auxiliary class used in mrpt::slam::CMultiMetricMapPDF. More...
 
struct  CMultiMetricMapPDFPtr
 
class  CMultiMetricMapPDF
 Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (This class is the base of RBPF-SLAM applications). More...
 
class  COccupancyGridMapFeatureExtractor
 A class for detecting features from occupancy grid maps. More...
 
class  CPathPlanningCircularRobot
 An implementation of CPathPlanningMethod. More...
 
class  CPathPlanningMethod
 A virtual base class for computing the optimal path for a robot from a origin location to a target point. More...
 
class  CRangeBearingKFSLAM
 An implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks. More...
 
class  CRangeBearingKFSLAM2D
 An implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot pose, and 2D landmarks. More...
 
class  CRejectionSamplingRangeOnlyLocalization
 An implementation of rejection sampling for generating 2D robot pose from range-only measurements within a landmarks (beacons) map. More...
 
struct  TDataAssociationResults
 The results from mrpt::slam::data_association. More...
 
class  PF_implementation
 A set of common data shared by PF implementations for both SLAM and localization. More...
 
class  TKLDParams
 Option set for KLD algorithm. More...
 
struct  TMonteCarloLocalizationParams
 The struct for passing extra simulation parameters to the prediction stage when running a particle filter. More...
 
struct  CLandmarkPtr
 
class  CLandmark
 The class for storing "landmarks" (visual or laser-scan-extracted features,...) More...
 
struct  CLandmarksMapPtr
 
class  CLandmarksMap
 A class for storing a map of 3D probabilistic landmarks. More...
 
struct  CObservationVisualLandmarksPtr
 
class  CObservationVisualLandmarks
 Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time. More...
 

Typedefs

typedef TRandomFieldCell TGasConcentrationCell
 Defined for backward compatibility only (mrpt <0.9.5) More...
 
typedef std::deque< CMetricMap * > TMetricMapList
 A list of metric maps (used in the mrpt::poses::CPosePDFParticles class): More...
 
typedef std::pair
< mrpt::system::TTimeStamp,
CObservationPtr
TTimeObservationPair
 For usage with CRawlog classes. More...
 
typedef std::multimap
< mrpt::system::TTimeStamp,
CObservationPtr
TListTimeAndObservations
 For usage with CRawlog classes. More...
 
typedef std::vector< CLandmarkTSequenceLandmarks
 Internal use. More...
 

Enumerations

enum  TIMUDataIndex {
  IMU_X_ACC = 0, IMU_Y_ACC, IMU_Z_ACC, IMU_YAW_VEL,
  IMU_PITCH_VEL, IMU_ROLL_VEL, IMU_X_VEL, IMU_Y_VEL,
  IMU_Z_VEL, IMU_YAW, IMU_PITCH, IMU_ROLL,
  IMU_X, IMU_Y, IMU_Z, IMU_MAG_X,
  IMU_MAG_Y, IMU_MAG_Z, IMU_PRESSURE, IMU_ALTITUDE,
  IMU_TEMPERATURE, COUNT_IMU_DATA_FIELDS
}
 Symbolic names for the indices of IMU data (refer to mrpt::slam::CObservationIMU) More...
 
enum  TICPAlgorithm { icpClassic = 0, icpLevenbergMarquardt, icpIKF }
 The ICP algorithm selection, used in mrpt::slam::CICP::options. More...
 

Functions

::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CBeaconPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CBeaconMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CColouredOctoMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CColouredPointsMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CGasConcentrationGridMap2DPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CHeightGridMap2DPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, COccupancyGridMap2DPtr &pObj)
 
bool operator< (const COccupancyGridMap2D::TPairLikelihoodIndex &e1, const COccupancyGridMap2D::TPairLikelihoodIndex &e2)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, COctoMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CPointsMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CRandomFieldGridMap2DPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CReflectivityGridMap2DPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CSimplePointsMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CWeightedPointsMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CWirelessPowerGridMap2DPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CActionPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CActionCollectionPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CActionRobotMovement2DPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CActionRobotMovement3DPtr &pObj)
 
bool OBS_IMPEXP carmen_log_parse_line (std::istream &in_stream, std::vector< mrpt::slam::CObservationPtr > &out_imported_observations, const mrpt::system::TTimeStamp &time_start_log)
 Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT observation representation. More...
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CMetricMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationPtr &pObj)
 
bool OBS_IMPEXP operator< (const T2DScanProperties &a, const T2DScanProperties &b)
 Order operator, so T2DScanProperties can appear in associative STL containers. More...
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservation2DRangeScanPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservation3DRangeScanPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservation6DFeaturesPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationBatteryStatePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationBeaconRangesPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationBearingRangePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationCANBusJ1939Ptr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationCommentPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationGasSensorsPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationGPSPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationImagePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationIMUPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationOdometryPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationRangePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationRawDAQPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationReflectivityPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationRFIDPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationRGBD360Ptr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationStereoImagesPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationStereoImagesFeaturesPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationWindSensorPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationWirelessPowerPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CRawlogPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CSensoryFramePtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CSimpleMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CIncrementalMapPartitionerPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CMultiMetricMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CRBPFParticleDataPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CMultiMetricMapPDFPtr &pObj)
 
template<class PARTICLETYPE , class BINTYPE >
void KLF_loadBinFromParticle (BINTYPE &outBin, const TKLDParams &opts, const PARTICLETYPE *currentParticleValue=NULL, const TPose3D *newPoseToBeInserted=NULL)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CLandmarkPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CLandmarksMapPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationVisualLandmarksPtr &pObj)
 
Observations overlap functions
double SLAM_IMPEXP 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 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 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 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...
 

Data association

enum  TDataAssociationMethod { assocNN = 0, assocJCBB }
 Different algorithms for data association, used in mrpt::slam::data_association. More...
 
enum  TDataAssociationMetric { metricMaha = 0, metricML }
 Different metrics for data association, used in mrpt::slam::data_association For a comparison of both methods see paper: More...
 
typedef size_t observation_index_t
 Used in mrpt::slam::TDataAssociationResults. More...
 
typedef size_t prediction_index_t
 Used in mrpt::slam::TDataAssociationResults. More...
 
void SLAM_IMPEXP data_association_full_covariance (const mrpt::math::CMatrixDouble &Z_observations_mean, const mrpt::math::CMatrixDouble &Y_predictions_mean, const mrpt::math::CMatrixDouble &Y_predictions_cov, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const std::vector< prediction_index_t > &predictions_IDs=std::vector< prediction_index_t >(), const TDataAssociationMetric compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)
 Computes the data-association between the prediction of a set of landmarks and their observations, all of them with covariance matrices - Generic version with prediction full cross-covariances. More...
 
void SLAM_IMPEXP data_association_independent_predictions (const mrpt::math::CMatrixDouble &Z_observations_mean, const mrpt::math::CMatrixDouble &Y_predictions_mean, const mrpt::math::CMatrixDouble &Y_predictions_cov, TDataAssociationResults &results, const TDataAssociationMethod method=assocJCBB, const TDataAssociationMetric metric=metricMaha, const double chi2quantile=0.99, const bool DAT_ASOC_USE_KDTREE=true, const std::vector< prediction_index_t > &predictions_IDs=std::vector< prediction_index_t >(), const TDataAssociationMetric compatibilityTestMetric=metricMaha, const double log_ML_compat_test_threshold=0.0)
 Computes the data-association between the prediction of a set of landmarks and their observations, all of them with covariance matrices - Generic version with NO prediction cross-covariances. More...
 

Typedef Documentation

Defined for backward compatibility only (mrpt <0.9.5)

Definition at line 29 of file CGasConcentrationGridMap2D.h.

For usage with CRawlog classes.

Definition at line 28 of file CRawlog.h.

typedef std::deque<CMetricMap*> mrpt::slam::TMetricMapList

A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):

Definition at line 327 of file CMetricMap.h.

Internal use.

Definition at line 29 of file CLandmarksMap.h.

For usage with CRawlog classes.

Definition at line 27 of file CRawlog.h.

Function Documentation

template<class PARTICLETYPE , class BINTYPE >
void mrpt::slam::KLF_loadBinFromParticle ( BINTYPE &  outBin,
const TKLDParams &  opts,
const PARTICLETYPE *  currentParticleValue = NULL,
const TPose3D newPoseToBeInserted = NULL 
)
bool OBS_IMPEXP mrpt::slam::operator< ( const T2DScanProperties &  a,
const T2DScanProperties &  b 
)

Order operator, so T2DScanProperties can appear in associative STL containers.

bool mrpt::slam::operator< ( const COccupancyGridMap2D::TPairLikelihoodIndex &  e1,
const COccupancyGridMap2D::TPairLikelihoodIndex &  e2 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationRawDAQPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationReflectivityPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationCANBusJ1939Ptr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationCommentPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CActionRobotMovement3DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservation6DFeaturesPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationBearingRangePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationRangePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationRFIDPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationWirelessPowerPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationBatteryStatePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationGasSensorsPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationOdometryPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CActionCollectionPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationWindSensorPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationVisualLandmarksPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationBeaconRangesPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationGPSPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationIMUPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CRawlogPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CSimpleMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CSensoryFramePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CActionPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CActionRobotMovement2DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CSimplePointsMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CWeightedPointsMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationRGBD360Ptr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationStereoImagesPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CWirelessPowerGridMap2DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CColouredOctoMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationImagePtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CGasConcentrationGridMap2DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CColouredPointsMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CIncrementalMapPartitionerPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservation3DRangeScanPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CHeightGridMap2DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
COctoMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CBeaconMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CRBPFParticleDataPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CLandmarkPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CReflectivityGridMap2DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationStereoImagesFeaturesPtr pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CBeaconPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservation2DRangeScanPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CLandmarksMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CRandomFieldGridMap2DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CPointsMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CMultiMetricMapPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
COccupancyGridMap2DPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CMultiMetricMapPDFPtr &  pObj 
)
::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CMetricMapPtr &  pObj 
)



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