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mrpt::slam Namespace Reference

Namespaces

 detail
 

Classes

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...
 
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...
 
class  COccupancyGridMapFeatureExtractor
 A class for detecting features from occupancy grid maps. 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...
 
class  PF_implementation
 A set of common data shared by PF implementations for both SLAM and localization. More...
 
struct  TDataAssociationResults
 The results from mrpt::slam::data_association. 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...
 

Typedefs

typedef mrpt::maps::CMultiMetricMap CMultiMetricMap
 Backward compatible typedef. More...
 
typedef mrpt::maps::CMultiMetricMapPtr CMultiMetricMapPtr
 Backward compatible typedef. More...
 
typedef mrpt::maps::CMultiMetricMapPDF CMultiMetricMapPDF
 Backward compatible typedef. More...
 
typedef mrpt::maps::CMultiMetricMapPDFPtr CMultiMetricMapPDFPtr
 Backward compatible typedef. More...
 
typedef mrpt::maps::CLandmark CLandmark
 Backward compatible typedef. More...
 
typedef mrpt::maps::CLandmarkPtr CLandmarkPtr
 Backward compatible typedef. More...
 
typedef mrpt::maps::CLandmarksMap CLandmarksMap
 Backward compatible typedef. More...
 
typedef mrpt::maps::CLandmarksMapPtr CLandmarksMapPtr
 Backward compatible typedef. More...
 
typedef mrpt::obs::CObservationVisualLandmarks CObservationVisualLandmarks
 Backward compatible typedef. More...
 
typedef mrpt::obs::CObservationVisualLandmarksPtr CObservationVisualLandmarksPtr
 Backward compatible typedef. More...
 

Enumerations

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, CIncrementalMapPartitionerPtr &pObj)
 
template<class PARTICLETYPE , class BINTYPE >
void KLF_loadBinFromParticle (BINTYPE &outBin, const TKLDParams &opts, const PARTICLETYPE *currentParticleValue=NULL, const mrpt::math::TPose3D *newPoseToBeInserted=NULL)
 
Observations overlap functions
double SLAM_IMPEXP 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 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 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 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...
 

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

§ CLandmark

Backward compatible typedef.

Definition at line 13 of file slam/CLandmark.h.

§ CLandmarkPtr

typedef mrpt::maps::CLandmarkPtr mrpt::slam::CLandmarkPtr

Backward compatible typedef.

Definition at line 14 of file slam/CLandmark.h.

§ CLandmarksMap

Backward compatible typedef.

Definition at line 13 of file slam/CLandmarksMap.h.

§ CLandmarksMapPtr

typedef mrpt::maps::CLandmarksMapPtr mrpt::slam::CLandmarksMapPtr

Backward compatible typedef.

Definition at line 14 of file slam/CLandmarksMap.h.

§ CMultiMetricMap

Backward compatible typedef.

Definition at line 13 of file slam/CMultiMetricMap.h.

§ CMultiMetricMapPDF

Backward compatible typedef.

Definition at line 13 of file slam/CMultiMetricMapPDF.h.

§ CMultiMetricMapPDFPtr

typedef mrpt::maps::CMultiMetricMapPDFPtr mrpt::slam::CMultiMetricMapPDFPtr

Backward compatible typedef.

Definition at line 14 of file slam/CMultiMetricMapPDF.h.

§ CMultiMetricMapPtr

typedef mrpt::maps::CMultiMetricMapPtr mrpt::slam::CMultiMetricMapPtr

Backward compatible typedef.

Definition at line 14 of file slam/CMultiMetricMap.h.

§ CObservationVisualLandmarks

Backward compatible typedef.

Definition at line 13 of file slam/CObservationVisualLandmarks.h.

§ CObservationVisualLandmarksPtr

typedef mrpt::obs::CObservationVisualLandmarksPtr mrpt::slam::CObservationVisualLandmarksPtr

Backward compatible typedef.

Definition at line 14 of file slam/CObservationVisualLandmarks.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 mrpt::math::TPose3D newPoseToBeInserted = NULL 
)

§ operator>>()

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



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