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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...
 
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::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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