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 |
| namespace | detail |
Classes |
| struct | CBeaconPtr |
| class | CBeacon |
| | The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. More...
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| 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...
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| struct | CColouredPointsMapPtr |
| class | CColouredPointsMap |
| | A map of 2D/3D points with individual colours (RGB). More...
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| struct | CGasConcentrationGridMap2DPtr |
| struct | TGasConcentrationCell |
| | The contents of each cell in a CGasConcentrationGridMap2D map. More...
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| class | CGasConcentrationGridMap2D |
| | CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More...
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| struct | CHeightGridMap2DPtr |
| struct | THeightGridmapCell |
| | The contents of each cell in a CHeightGridMap2D map. More...
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| class | CHeightGridMap2D |
| | A mesh representation of a surface which keeps the estimated height for each (x,y) location. More...
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| struct | COccupancyGridMap2DPtr |
| class | COccupancyGridMap2D |
| | A class for storing an occupancy grid map. More...
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| 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...
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| struct | CSimplePointsMapPtr |
| class | CSimplePointsMap |
| | A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...
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| struct | CActionPtr |
| class | CAction |
| | Declares a class for storing a robot action. More...
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| struct | CActionCollectionPtr |
| class | CActionCollection |
| | Declares a class for storing a collection of robot actions. More...
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| struct | CActionRobotMovement2DPtr |
| class | CActionRobotMovement2D |
| | Represents a probabilistic 2D movement of the robot mobile base. More...
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| struct | CActionRobotMovement3DPtr |
| class | CActionRobotMovement3D |
| | Represents a probabilistic 3D (6D) movement. More...
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| struct | CMetricMapPtr |
| class | CMetricMap |
| | Declares a virtual base class for all metric maps storage classes. More...
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| class | mrptEventMetricMapClear |
| | Event emitted by a metric up upon call of clear() More...
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| class | mrptEventMetricMapInsert |
| | Event emitted by a metric up upon a succesful call to insertObservation() More...
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| struct | CObservationPtr |
| class | CObservation |
| | Declares a class that represents any robot's observation. More...
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| struct | CObservation2DRangeScanPtr |
| class | CObservation2DRangeScan |
| | A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser scanner). More...
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| struct | CObservation3DRangeScanPtr |
| class | CObservation3DRangeScan |
| | Declares a class derived from "CObservation" that encapsules a 3D range scan measurement (e.g. More...
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| struct | CObservationBatteryStatePtr |
| class | CObservationBatteryState |
| | This represents a measurement of the batteries on the robot. More...
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| struct | CObservationBeaconRangesPtr |
| class | CObservationBeaconRanges |
| | Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More...
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| 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...
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| 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...
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| struct | CObservationGasSensorsPtr |
| class | CObservationGasSensors |
| | Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More...
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| struct | CObservationGPSPtr |
| class | CObservationGPS |
| | Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading. More...
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| 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...
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| struct | CObservationIMUPtr |
| class | CObservationIMU |
| | This class stores measurements from an Inertial Measurement Unit (IMU), and/or its attitude estimation (integration of raw measurements). More...
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| struct | CObservationOdometryPtr |
| class | CObservationOdometry |
| | An observation of the current (cumulative) odometry for a wheeled robot. More...
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| struct | CObservationRangePtr |
| class | CObservationRange |
| | Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More...
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| struct | CObservationStereoImagesPtr |
| class | CObservationStereoImages |
| | Observation class for either a pair of left+right or left+disparity images from a stereo camera. More...
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| 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...
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| struct | CRawlogPtr |
| class | CRawlog |
| | This class stores a rawlog (robotic datasets) in one of two possible formats:
- Format #1: A sequence of actions and observations.
More...
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| 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...
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| 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...
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| class | CConsistentObservationAlignment |
| | An algorithm for globally, consistent alignment of a sequence of observations. More...
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| 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...
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| class | CICP |
| | Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps. More...
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| 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...
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| class | CMetricMapBuilder |
| | This virtual class is the base for SLAM implementations. More...
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| class | CMetricMapBuilderICP |
| | A class for very simple 2D SLAM based on ICP. More...
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| class | CMetricMapBuilderRBPF |
| | This class implements a Rao-Blackwelized Particle Filter (RBPF) approach to map building (SLAM). More...
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| class | CMetricMapsAlignmentAlgorithm |
| | A base class for any algorithm able of maps alignment. More...
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| 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...
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| 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...
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| struct | CMultiMetricMapPtr |
| class | CMultiMetricMap |
| | This class stores any customizable set of metric maps. More...
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| 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...
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| 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...
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| struct | CRBPFParticleDataPtr |
| class | CRBPFParticleData |
| | Auxiliary class used in mrpt::slam::CMultiMetricMapPDF. More...
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| 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...
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| class | COccupancyGridMapFeatureExtractor |
| | A class for detecting features from occupancy grid maps. More...
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| class | CPathPlanningCircularRobot |
| | An implementation of CPathPlanningMethod. More...
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| class | CPathPlanningMethod |
| | A virtual base class for computing the optimal path for a robot from a origin location to a target point. More...
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| class | CRangeBearingKFSLAM |
| | An implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks. More...
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| class | CRangeBearingKFSLAM2D |
| | An implementation of EKF-based SLAM with range-bearing sensors, odometry, and a 2D (+heading) robot pose, and 2D landmarks. More...
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| class | CRejectionSamplingRangeOnlyLocalization |
| | An implementation of rejection sampling for generating 2D robot pose from range-only measurements within a landmarks (beacons) map. More...
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| struct | TDataAssociationResults |
| | The results from mrpt::slam::data_association. More...
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| class | PF_implementation |
| | A set of common data shared by PF implementations for both SLAM and localization. More...
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| class | TKLDParams |
| | Option set for KLD algorithm. More...
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| struct | TMonteCarloLocalizationParams |
| | The struct for passing extra simulation parameters to the prediction stage when running a particle filter. More...
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| struct | CLandmarkPtr |
| class | CLandmark |
| | The class for storing "landmarks" (visual or laser-scan-extracted features,...) More...
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| struct | CLandmarksMapPtr |
| class | CLandmarksMap |
| | A class for storing a map of 3D probabilistic landmarks. More...
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| 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 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.
|
| typedef std::vector< CLandmark > | TSequenceLandmarks |
| | Internal use.
|
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
} |
| | Symbolic names for the indices of IMU data (refer to mrpt::slam::CObservationIMU)
More...
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| enum | TICPAlgorithm { icpClassic = 0,
icpLevenbergMarquardt,
icpIKF
} |
| | The ICP algorithm selection, used in mrpt::slam::CICP::options.
More...
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Functions |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CBeaconPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CBeaconMapPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CColouredPointsMapPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CGasConcentrationGridMap2DPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CHeightGridMap2DPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, COccupancyGridMap2DPtr &pObj) |
| bool | operator< (const COccupancyGridMap2D::TPairLikelihoodIndex &e1, const COccupancyGridMap2D::TPairLikelihoodIndex &e2) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CPointsMapPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CSimplePointsMapPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CActionPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CActionCollectionPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CActionRobotMovement2DPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (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.
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| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CMetricMapPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservation2DRangeScanPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservation3DRangeScanPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationBatteryStatePtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationBeaconRangesPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationBearingRangePtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationCommentPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationGasSensorsPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationGPSPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationImagePtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationIMUPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationOdometryPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationRangePtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationStereoImagesPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationStereoImagesFeaturesPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CRawlogPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CSensoryFramePtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CSimpleMapPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CIncrementalMapPartitionerPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CMultiMetricMapPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CRBPFParticleDataPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (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::CStream & | operator>> (mrpt::utils::CStream &in, CLandmarkPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CLandmarksMapPtr &pObj) |
| ::mrpt::utils::CStream & | operator>> (mrpt::utils::CStream &in, CObservationVisualLandmarksPtr &pObj) |
|
| 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.
|
| 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.
|
| 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.
|
| 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.
|
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.
More...
|
| typedef size_t | observation_index_t |
| | Used in mrpt::slam::TDataAssociationResults.
|
| typedef size_t | prediction_index_t |
| | Used in mrpt::slam::TDataAssociationResults.
|
| 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.
|
| 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.
|
