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... | |
| 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... | |
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 } |
| The ICP algorithm selection, used in mrpt::slam::CICP::options <> More... | |
| enum | TICPCovarianceMethod { icpCovLinealMSE = 0 , icpCovFiniteDifferences } |
| ICP covariance estimation methods, used in mrpt::slam::CICP::options <> More... | |
Functions | |
| ::mrpt::utils::CStream & | operator>> (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... | |
Backward compatible typedef.
Definition at line 13 of file slam/CLandmark.h.
| typedef mrpt::maps::CLandmarkPtr mrpt::slam::CLandmarkPtr |
Backward compatible typedef.
Definition at line 14 of file slam/CLandmark.h.
Backward compatible typedef.
Definition at line 13 of file slam/CLandmarksMap.h.
| typedef mrpt::maps::CLandmarksMapPtr mrpt::slam::CLandmarksMapPtr |
Backward compatible typedef.
Definition at line 14 of file slam/CLandmarksMap.h.
Backward compatible typedef.
Definition at line 13 of file slam/CMultiMetricMap.h.
Backward compatible typedef.
Definition at line 13 of file slam/CMultiMetricMapPDF.h.
| typedef mrpt::maps::CMultiMetricMapPDFPtr mrpt::slam::CMultiMetricMapPDFPtr |
Backward compatible typedef.
Definition at line 14 of file slam/CMultiMetricMapPDF.h.
| typedef mrpt::maps::CMultiMetricMapPtr mrpt::slam::CMultiMetricMapPtr |
Backward compatible typedef.
Definition at line 14 of file slam/CMultiMetricMap.h.
Backward compatible typedef.
Definition at line 13 of file slam/CObservationVisualLandmarks.h.
| typedef mrpt::obs::CObservationVisualLandmarksPtr mrpt::slam::CObservationVisualLandmarksPtr |
Backward compatible typedef.
Definition at line 14 of file slam/CObservationVisualLandmarks.h.
| void mrpt::slam::KLF_loadBinFromParticle | ( | BINTYPE & | outBin, |
| const TKLDParams & | opts, | ||
| const PARTICLETYPE * | currentParticleValue = NULL, |
||
| const mrpt::math::TPose3D * | newPoseToBeInserted = NULL |
||
| ) |
| ::mrpt::utils::CStream& mrpt::slam::operator>> | ( | mrpt::utils::CStream & | in, |
| CIncrementalMapPartitionerPtr & | pObj | ||
| ) |
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