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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

class  CAction
 Declares a class for storing a robot action. More...
 
class  CActionCollection
 Declares a class for storing a collection of robot actions. More...
 
struct  CActionCollectionPtr
 
struct  CActionPtr
 
class  CActionRobotMovement2D
 Represents a probabilistic 2D movement of the robot mobile base. More...
 
struct  CActionRobotMovement2DPtr
 
class  CActionRobotMovement3D
 Represents a probabilistic 3D (6D) movement. More...
 
struct  CActionRobotMovement3DPtr
 
class  CBeacon
 The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. More...
 
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  CBeaconMapPtr
 
struct  CBeaconPtr
 
class  CColouredPointsMap
 A map of 2D/3D points with individual colours (RGB). More...
 
struct  CColouredPointsMapPtr
 
class  CDetectorDoorCrossing
 
class  CGasConcentrationGridMap2D
 CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More...
 
struct  CGasConcentrationGridMap2DPtr
 
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  CHeightGridMap2D
 A mesh representation of a surface which keeps the estimated height for each (x,y) location. More...
 
struct  CHeightGridMap2DPtr
 
class  CICP
 Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a point map wrt a grid map. More...
 
class  CIncrementalMapPartitioner
 This class can be used to make partitions on a map/graph build from observations taken at some poses/nodes. More...
 
struct  CIncrementalMapPartitionerPtr
 
class  CLandmark
 The class for storing "landmarks" (visual or laser-scan-extracted features,...) More...
 
struct  CLandmarkPtr
 
class  CLandmarksMap
 A class for storing a map of 3D probabilistic landmarks. More...
 
struct  CLandmarksMapPtr
 
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...
 
class  CMetricMap
 Declares a virtual base class for all metric maps storage classes. 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...
 
struct  CMetricMapPtr
 
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...
 
class  CMultiMetricMap
 This class stores any customizable set of metric maps. More...
 
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...
 
struct  CMultiMetricMapPDFPtr
 
struct  CMultiMetricMapPtr
 
class  CObservation
 Declares a class that represents any robot's observation. More...
 
class  CObservation2DRangeScan
 A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner). More...
 
struct  CObservation2DRangeScanPtr
 
class  CObservation3DRangeScan
 Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e.g. More...
 
struct  CObservation3DRangeScanPtr
 
class  CObservationBatteryState
 This represents a measurement of the batteries on the robot. More...
 
struct  CObservationBatteryStatePtr
 
class  CObservationBeaconRanges
 Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More...
 
struct  CObservationBeaconRangesPtr
 
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  CObservationBearingRangePtr
 
class  CObservationCANBusJ1939
 This class stores a message from a CAN BUS with the protocol J1939. More...
 
struct  CObservationCANBusJ1939Ptr
 
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  CObservationCommentPtr
 
class  CObservationGasSensors
 Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More...
 
struct  CObservationGasSensorsPtr
 
class  CObservationGPS
 Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading. More...
 
struct  CObservationGPSPtr
 
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  CObservationImagePtr
 
class  CObservationIMU
 This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimation (integration of raw measurements). More...
 
struct  CObservationIMUPtr
 
class  CObservationOdometry
 An observation of the current (cumulative) odometry for a wheeled robot. More...
 
struct  CObservationOdometryPtr
 
struct  CObservationPtr
 
class  CObservationRange
 Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More...
 
struct  CObservationRangePtr
 
class  CObservationReflectivity
 Declares a class derived from "CObservation" that encapsules a single short-range reflectivity measurement. More...
 
struct  CObservationReflectivityPtr
 
class  CObservationRFID
 This represents one or more RFID tags observed by a receiver. More...
 
struct  CObservationRFIDPtr
 
class  CObservationStereoImages
 Observation class for either a pair of left+right or left+disparity images from a stereo camera. More...
 
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  CObservationStereoImagesFeaturesPtr
 
struct  CObservationStereoImagesPtr
 
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...
 
struct  CObservationVisualLandmarksPtr
 
class  CObservationWindSensor
 Declares a class derived from "CObservation" that represents the wind measurements taken on the robot by an anemometer. More...
 
struct  CObservationWindSensorPtr
 
class  CObservationWirelessPower
 This represents a measurement of the wireless strength perceived by the robot. More...
 
struct  CObservationWirelessPowerPtr
 
class  COccupancyGridMap2D
 A class for storing an occupancy grid map. More...
 
struct  COccupancyGridMap2DPtr
 
class  COccupancyGridMapFeatureExtractor
 A class for detecting features from occupancy grid maps. More...
 
class  COctoMap
 A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...
 
struct  COctoMapPtr
 
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  CPointsMap
 A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. More...
 
struct  CPointsMapPtr
 
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  CRandomFieldGridMap2DPtr
 
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  CRawlog
 This class stores a rawlog (robotic datasets) in one of two possible formats: More...
 
struct  CRawlogPtr
 
class  CRBPFParticleData
 Auxiliary class used in mrpt::slam::CMultiMetricMapPDF. More...
 
struct  CRBPFParticleDataPtr
 
class  CReflectivityGridMap2D
 A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor). More...
 
struct  CReflectivityGridMap2DPtr
 
class  CRejectionSamplingRangeOnlyLocalization
 An implementation of rejection sampling for generating 2D robot pose from range-only measurements within a landmarks (beacons) map. More...
 
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  CSensoryFramePtr
 
class  CSimpleMap
 This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. More...
 
struct  CSimpleMapPtr
 
class  CSimplePointsMap
 A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...
 
struct  CSimplePointsMapPtr
 
class  CSinCosLookUpTableFor2DScans
 A smart look-up-table (LUT) of sin/cos values for 2D laser scans. More...
 
class  CWeightedPointsMap
 A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...
 
struct  CWeightedPointsMapPtr
 
class  CWirelessPowerGridMap2D
 CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area. More...
 
struct  CWirelessPowerGridMap2DPtr
 
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...
 
class  PF_implementation
 A set of common data shared by PF implementations for both SLAM and localization. More...
 
struct  T2DScanProperties
 Auxiliary struct that holds all the relevant geometry information about a 2D scan. More...
 
struct  TDataAssociationResults
 The results from mrpt::slam::data_association. More...
 
struct  THeightGridmapCell
 The contents of each cell in a CHeightGridMap2D map. More...
 
class  TKLDParams
 Option set for KLD algorithm. 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...
 
struct  TMonteCarloLocalizationParams
 The struct for passing extra simulation parameters to the prediction stage when running a particle filter. More...
 
struct  TRandomFieldCell
 The contents of each cell in a CRandomFieldGridMap2D map. 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  TStereoImageFeatures
 

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, CObservationPtrTTimeObservationPair
 For usage with CRawlog classes. More...
 
typedef std::multimap< mrpt::system::TTimeStamp, CObservationPtrTListTimeAndObservations
 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, 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, 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, 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, CObservationReflectivityPtr &pObj)
 
::mrpt::utils::CStreamoperator>> (mrpt::utils::CStream &in, CObservationRFIDPtr &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

◆ TGasConcentrationCell

Defined for backward compatibility only (mrpt <0.9.5)

Definition at line 55 of file CGasConcentrationGridMap2D.h.

◆ TListTimeAndObservations

For usage with CRawlog classes.

Definition at line 54 of file CRawlog.h.

◆ TMetricMapList

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

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

Definition at line 355 of file CMetricMap.h.

◆ TSequenceLandmarks

Internal use.

Definition at line 55 of file CLandmarksMap.h.

◆ TTimeObservationPair

For usage with CRawlog classes.

Definition at line 53 of file CRawlog.h.

Function Documentation

◆ KLF_loadBinFromParticle()

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

◆ operator<() [1/2]

bool OBS_IMPEXP mrpt::slam::operator< ( const T2DScanProperties a,
const T2DScanProperties b 
)

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

◆ operator<() [2/2]

bool mrpt::slam::operator< ( const COccupancyGridMap2D::TPairLikelihoodIndex e1,
const COccupancyGridMap2D::TPairLikelihoodIndex e2 
)

◆ operator>>() [1/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationReflectivityPtr pObj 
)

◆ operator>>() [2/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationCANBusJ1939Ptr pObj 
)

◆ operator>>() [3/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationCommentPtr pObj 
)

◆ operator>>() [4/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CActionRobotMovement3DPtr pObj 
)

◆ operator>>() [5/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationBearingRangePtr pObj 
)

◆ operator>>() [6/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationRangePtr pObj 
)

◆ operator>>() [7/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationRFIDPtr pObj 
)

◆ operator>>() [8/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationWirelessPowerPtr pObj 
)

◆ operator>>() [9/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationBatteryStatePtr pObj 
)

◆ operator>>() [10/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationOdometryPtr pObj 
)

◆ operator>>() [11/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CActionCollectionPtr pObj 
)

◆ operator>>() [12/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationWindSensorPtr pObj 
)

◆ operator>>() [13/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CSimpleMapPtr pObj 
)

◆ operator>>() [14/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationBeaconRangesPtr pObj 
)

◆ operator>>() [15/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationVisualLandmarksPtr pObj 
)

◆ operator>>() [16/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationGasSensorsPtr pObj 
)

◆ operator>>() [17/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationIMUPtr pObj 
)

◆ operator>>() [18/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CRawlogPtr pObj 
)

◆ operator>>() [19/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationGPSPtr pObj 
)

◆ operator>>() [20/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CSensoryFramePtr pObj 
)

◆ operator>>() [21/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CActionPtr pObj 
)

◆ operator>>() [22/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CActionRobotMovement2DPtr pObj 
)

◆ operator>>() [23/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CWeightedPointsMapPtr pObj 
)

◆ operator>>() [24/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CSimplePointsMapPtr pObj 
)

◆ operator>>() [25/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationStereoImagesPtr pObj 
)

◆ operator>>() [26/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservation3DRangeScanPtr pObj 
)

◆ operator>>() [27/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CWirelessPowerGridMap2DPtr pObj 
)

◆ operator>>() [28/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationImagePtr pObj 
)

◆ operator>>() [29/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CGasConcentrationGridMap2DPtr pObj 
)

◆ operator>>() [30/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CColouredPointsMapPtr pObj 
)

◆ operator>>() [31/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
COctoMapPtr pObj 
)

◆ operator>>() [32/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CIncrementalMapPartitionerPtr pObj 
)

◆ operator>>() [33/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CLandmarkPtr pObj 
)

◆ operator>>() [34/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CBeaconMapPtr pObj 
)

◆ operator>>() [35/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CRBPFParticleDataPtr pObj 
)

◆ operator>>() [36/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationStereoImagesFeaturesPtr pObj 
)

◆ operator>>() [37/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CRandomFieldGridMap2DPtr pObj 
)

◆ operator>>() [38/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CReflectivityGridMap2DPtr pObj 
)

◆ operator>>() [39/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CBeaconPtr pObj 
)

◆ operator>>() [40/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CLandmarksMapPtr pObj 
)

◆ operator>>() [41/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CMultiMetricMapPtr pObj 
)

◆ operator>>() [42/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CMetricMapPtr pObj 
)

◆ operator>>() [43/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CHeightGridMap2DPtr pObj 
)

◆ operator>>() [44/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservation2DRangeScanPtr pObj 
)

◆ operator>>() [45/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CPointsMapPtr pObj 
)

◆ operator>>() [46/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CObservationPtr pObj 
)

◆ operator>>() [47/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
COccupancyGridMap2DPtr pObj 
)

◆ operator>>() [48/48]

::mrpt::utils::CStream& mrpt::slam::operator>> ( mrpt::utils::CStream in,
CMultiMetricMapPDFPtr pObj 
)



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