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mrptslam
Interesting stuff in this library:
See the full list of classes in mrpt::slam. Note that there are many classes in that namespace not in the library mrptslam, but in libraries mrptslam depends on. However, in you set mrptslam as a dependence of your project, you can be safe all mrpt::slam classes will be available to you.
See also: For GraphSLAM, see the namespace mrpt::graphslam in the library mrptgraphslam.
Classes  
class  mrpt::detectors::CDetectorDoorCrossing 
class  mrpt::maps::CMultiMetricMap 
This class stores any customizable set of metric maps. More...  
class  mrpt::maps::CRBPFParticleData 
Auxiliary class used in mrpt::maps::CMultiMetricMapPDF. More...  
class  mrpt::slam::CGridMapAligner 
A class for aligning two multimetric maps (with an occupancy grid maps and a points map, at least) based on features extraction and matching. More...  
class  mrpt::slam::CICP 
Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps or a point map wrt a grid map. More...  
class  mrpt::slam::CIncrementalMapPartitioner 
This class can be used to make partitions on a map/graph build from observations taken at some poses/nodes. More...  
class  mrpt::slam::CMetricMapsAlignmentAlgorithm 
A base class for any algorithm able of maps alignment. More...  
class  mrpt::slam::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  mrpt::slam::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  mrpt::slam::COccupancyGridMapFeatureExtractor 
A class for detecting features from occupancy grid maps. More...  
class  mrpt::slam::CRejectionSamplingRangeOnlyLocalization 
An implementation of rejection sampling for generating 2D robot pose from rangeonly measurements within a landmarks (beacons) map. More...  
class  mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF > 
A set of common data shared by PF implementations for both SLAM and localization. More...  
class  mrpt::slam::TKLDParams 
Option set for KLD algorithm. More...  
struct  mrpt::slam::TMonteCarloLocalizationParams 
The struct for passing extra simulation parameters to the prediction stage when running a particle filter. More...  
Namespaces  
mrpt::slam  
Modules  
Metric SLAM algorithms  
Data association  
Enumerations  
enum  mrpt::slam::TICPAlgorithm { mrpt::slam::icpClassic = 0, mrpt::slam::icpLevenbergMarquardt } 
The ICP algorithm selection, used in mrpt::slam::CICP::options. More...  
enum  mrpt::slam::TICPCovarianceMethod { mrpt::slam::icpCovLinealMSE = 0, mrpt::slam::icpCovFiniteDifferences } 
ICP covariance estimation methods, used in mrpt::slam::CICP::options. More...  
Functions  
template<class BINTYPE >  
bool  mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs (const mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf) 
Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing. More...  
Observations overlap functions  
double SLAM_IMPEXP  mrpt::slam::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  mrpt::slam::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  mrpt::slam::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  mrpt::slam::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...  
The ICP algorithm selection, used in mrpt::slam::CICP::options.
Enumerator  

icpClassic  
icpLevenbergMarquardt 
ICP covariance estimation methods, used in mrpt::slam::CICP::options.
double mrpt::slam::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.
Definition at line 26 of file observations_overlap.cpp.
References mrpt::obs::CObservation2DRangeScan::buildAuxPointsMap(), mrpt::maps::TMatchingExtraResults::correspondencesRatio, mrpt::maps::CPointsMap::determineMatching3D(), IS_CLASS, mrpt::maps::TMatchingParams::maxAngularDistForCorrespondence, and mrpt::maps::TMatchingParams::maxDistForCorrespondence.
Referenced by mrpt::slam::CIncrementalMapPartitioner::clear(), and mrpt::slam::observationsOverlap().

inline 
Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
Definition at line 37 of file observations_overlap.h.
References mrpt::slam::observationsOverlap(), and SLAM_IMPEXP.
double mrpt::slam::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.
This method computes the average between each of the observations in each SF.
Definition at line 70 of file observations_overlap.cpp.
References mrpt::obs::CSensoryFrame::begin(), mrpt::obs::CSensoryFrame::end(), MRPT_UNUSED_PARAM, and mrpt::slam::observationsOverlap().

inline 
Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions.
This method computes the average between each of the observations in each SF.
Definition at line 58 of file observations_overlap.h.
References mrpt::slam::observationsOverlap().
bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs  (  const mrpt::obs::CActionCollection *  actions, 
const mrpt::obs::CSensoryFrame *  sf  
) 
Auxiliary method called by PF implementations: return true if we have both action & observation, otherwise, return false AND accumulate the odometry so when we have an observation we didn't lose a thing.
On return=true, the "m_movementDrawer" member is loaded and ready to draw samples of the increment of pose since last step. This method is smart enough to accumulate CActionRobotMovement2D or CActionRobotMovement3D, whatever comes in.
Definition at line 44 of file PF_implementations.h.
References ASSERT_, mrpt::obs::CActionRobotMovement2D::computeFromOdometry(), mrpt::utils::poly_ptr_ptr< T >::get_ptr(), mrpt::obs::CActionCollection::getActionByClass(), mrpt::obs::CActionCollection::getBestMovementEstimation(), mrpt::obs::CActionRobotMovement2D::poseChange, and THROW_EXCEPTION.
Referenced by mrpt::slam::PF_implementation< mrpt::poses::CPose3D, CMonteCarloLocalization3D >::PF_SLAM_implementation_skipRobotMovement().
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