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... | |
| class | CActionRobotMovement2D |
| Represents a probabilistic 2D movement of the robot mobile base. More... | |
| class | CActionRobotMovement3D |
| Represents a probabilistic 3D (6D) movement. More... | |
| 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... | |
| class | CColouredPointsMap |
| A map of 2D/3D points with individual colours (RGB). More... | |
| class | CConsistentObservationAlignment |
| An algorithm for globally, consistent alignment of a sequence of observations. More... | |
| class | CDetectorDoorCrossing |
| struct | TGasConcentrationCell |
| The contents of each cell in a CGasConcentrationGridMap2D map. More... | |
| class | CGasConcentrationGridMap2D |
| CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More... | |
| 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... | |
| 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... | |
| class | CICP |
| Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps. 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 | CLandmark |
| The class for storing "landmarks" (visual or laser-scan-extracted features,. More... | |
| class | CLandmarksMap |
| A class for storing a map of 3D probabilistic landmarks. 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... | |
| class | CMetricMapsAlignmentAlgorithm |
| A base class for any algorithm able of maps alignment. More... | |
| 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... | |
| class | CRBPFParticleData |
| Auxiliary class used in mrpt::slam::CMultiMetricMapPDF. 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... | |
| class | CObservation |
| Declares a class that represents any robot's observation. More... | |
| class | CObservation2DRangeScan |
| Declares a class derived from "CObservation" that encapsules a 2D range scan measurement (typically from a laser scanner). More... | |
| class | CObservationBatteryState |
| This represents a measurement of the batteries on the robot. More... | |
| class | CObservationBeaconRanges |
| Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More... | |
| 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... | |
| class | CObservationComment |
| This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. More... | |
| class | CObservationGasSensors |
| Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More... | |
| class | CObservationGPS |
| Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading. More... | |
| class | CObservationImage |
| Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. More... | |
| class | CObservationIMU |
| This class stores both sequences of raw measurements from an IMU, and/or its attitude estimation (integration of raw measurements). More... | |
| class | CObservationOdometry |
| An observation of the current (cumulative) odometry for a wheeled robot. More... | |
| class | CObservationRange |
| Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More... | |
| class | CObservationStereoImages |
| Declares a class derived from "CObservation" that encapsule a pair of images taken by a stereo camera. More... | |
| 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... | |
| class | COccupancyGridMap2D |
| COccupancyGridMap2D is a class for storing an occupancy grid map. 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 | CPointsMap |
| A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. More... | |
| class | CRangeBearingKFSLAM |
| A simple implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks. More... | |
| class | CRawlog |
This class stores a rawlog (robotic datasets) in one of two possible formats:
| |
| class | CRawlogXXL |
| This class is identical to slam::CRawlog but it transparently manages the dump of objects to a temporary file in disk, so it can handle very large rawlogs that otherwise don't fit in memory (EXPERIMENTAL, DO NOT USE!!!!). More... | |
| class | CRejectionSamplingRangeOnlyLocalization |
| An implementation of rejection sampling for generating 2D robot pose from range-only measurements within a landmarks (beacons) map. More... | |
| class | CRobotSimulator |
| This class can be used to simulate the kinematics and dynamics of a differential driven planar mobile robot, including odometry errors and dynamics limitations. More... | |
| class | CSensFrameProbSequence |
| This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. More... | |
| class | CSensoryFrame |
| Declares a class for storing a "sensory frame", thus a set of "observations" of the robot, taken exactly from the same location.The "observations" can be of many different kinds. More... | |
| class | CSimplePointsMap |
| A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More... | |
| class | TKLDParams |
| Option set for KLD algorithm. More... | |
Typedefs | |
| typedef std::deque< CBeacon > | TSequenceBeacons |
| Internal use. | |
| typedef std::vector< CLandmark > | TSequenceLandmarks |
| Internal use. | |
| typedef std::deque< CMetricMap * > | TMetricMapList |
| A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):. | |
| typedef std::pair < mrpt::system::TTimeStamp, CObservationPtr > | TTimeObservationPair |
| For usage with CRawlog classes. | |
| typedef std::multimap < mrpt::system::TTimeStamp, CObservationPtr > | TListTimeAndObservations |
| For usage with CRawlog classes. | |
Enumerations | |
| enum | TICPAlgorithm { icpClassic = 0, icpLevenbergMarquardt, icpIKF } |
| The ICP algorithm selection, used in mrpt::slam::CICP::options. More... | |
| 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 } |
| Symbolic names for the indices of IMU data (refer to mrpt::slam::CObservationIMU). More... | |
Functions | |
| bool | operator< (const mrpt::slam::CMetricMap::TMatchingPair &a, const mrpt::slam::CMetricMap::TMatchingPair &b) |
| A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx. | |
| bool | operator== (const mrpt::slam::CMetricMap::TMatchingPair &a, const mrpt::slam::CMetricMap::TMatchingPair &b) |
| A comparison operator. | |
| bool | operator== (const mrpt::slam::CMetricMap::TMatchingPairList &a, const mrpt::slam::CMetricMap::TMatchingPairList &b) |
| A comparison operator. | |
| bool | operator< (const COccupancyGridMap2D::TPairLikelihoodIndex &e1, const COccupancyGridMap2D::TPairLikelihoodIndex &e2) |
| typedef std::multimap<mrpt::system::TTimeStamp, CObservationPtr> mrpt::slam::TListTimeAndObservations |
| typedef std::deque<CMetricMap*> mrpt::slam::TMetricMapList |
A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):.
Definition at line 413 of file CMetricMap.h.
| typedef std::deque<CBeacon> mrpt::slam::TSequenceBeacons |
| typedef std::vector<CLandmark> mrpt::slam::TSequenceLandmarks |
| typedef std::pair<mrpt::system::TTimeStamp, CObservationPtr> mrpt::slam::TTimeObservationPair |
The ICP algorithm selection, used in mrpt::slam::CICP::options.
For details on the algorithms refer to http://babel.isa.uma.es/mrpt/index.php/Scan_Matching_Algorithms
Symbolic names for the indices of IMU data (refer to mrpt::slam::CObservationIMU).
| IMU_X_ACC | |
| 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 |
Definition at line 46 of file CObservationIMU.h.
| bool mrpt::slam::operator< | ( | const COccupancyGridMap2D::TPairLikelihoodIndex & | e1, | |
| const COccupancyGridMap2D::TPairLikelihoodIndex & | e2 | |||
| ) |
| bool mrpt::slam::operator< | ( | const mrpt::slam::CMetricMap::TMatchingPair & | a, | |
| const mrpt::slam::CMetricMap::TMatchingPair & | b | |||
| ) |
A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx.
| bool mrpt::slam::operator== | ( | const mrpt::slam::CMetricMap::TMatchingPairList & | a, | |
| const mrpt::slam::CMetricMap::TMatchingPairList & | b | |||
| ) |
A comparison operator.
| bool mrpt::slam::operator== | ( | const mrpt::slam::CMetricMap::TMatchingPair & | a, | |
| const mrpt::slam::CMetricMap::TMatchingPair & | b | |||
| ) |
A comparison operator.
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