Detailed Description
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Library mrpt-slam
Interesting stuff in this library:
- mrpt::slam::CMetricMapBuilder: A virtual base for both ICP and RBPF-based SLAM.
- mrpt::slam::CMonteCarloLocalization2D: Particle filter-based (Monte Carlo) localization for a robot in a planar scenario.
- mrpt::maps::CMultiMetricMap: The most versatile kind of metric map, which contains an arbitrary number of any other maps.
- Kalman Filters-based Range-Bearing SLAM, in 2D and 3D: See mrpt::slam::CRangeBearingKFSLAM and mrpt::slam::CRangeBearingKFSLAM2D.
- Data association: The NN and the JCBB algorithms, as very generic templates. See data_association.h
See the full list of classes in mrpt::slam. Note that there are many classes in that namespace not in the library mrpt-slam, but in libraries mrpt-slam depends on. However, in you set mrpt-slam as a dependence of your project, you can be safe all mrpt::slam classes will be available to you.
See also: For Graph-SLAM, see the namespace mrpt::graphslam in the library mrpt-graphslam.
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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 multi-metric 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 range-only measurements within a landmarks (beacons) map. More... | |
| class | mrpt::slam::PF_implementation< PARTICLE_TYPE, PDF_TYPE, CParticleList > |
| 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::TICPCovarianceMethod { mrpt::slam::icpCovLinealMSE = 0, mrpt::slam::icpCovFiniteDifferences } |
| ICP covariance estimation methods, used in mrpt::slam::CICP::options. More... | |
Functions | |
| template<class MYSELF , class BINTYPE > | |
| static bool | mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation_gatherActionsCheckBothActObs (const mrpt::obs::CActionCollection *actions, const mrpt::obs::CSensoryFrame *sf, MYSELF &me) |
| 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 | mrpt::slam::observationsOverlap (const mrpt::obs::CObservation *o1, const mrpt::obs::CObservation *o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=nullptr) |
| 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::CObservation::Ptr &o1, const mrpt::obs::CObservation::Ptr &o2, const mrpt::poses::CPose3D *pose_o2_wrt_o1=nullptr) |
| 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::CSensoryFrame &sf1, const mrpt::obs::CSensoryFrame &sf2, const mrpt::poses::CPose3D *pose_sf2_wrt_sf1=nullptr) |
| 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::CSensoryFrame::Ptr &sf1, const mrpt::obs::CSensoryFrame::Ptr &sf2, const mrpt::poses::CPose3D *pose_sf2_wrt_sf1=nullptr) |
| Estimates the "overlap" or "matching ratio" of two set of observations (range [0,1]), possibly taking into account their relative positions. More... | |
Enumeration Type Documentation
◆ TICPCovarianceMethod
ICP covariance estimation methods, used in mrpt::slam::CICP::options.
Function Documentation
◆ observationsOverlap() [1/4]
| double mrpt::slam::observationsOverlap | ( | const mrpt::obs::CObservation * | o1, |
| const mrpt::obs::CObservation * | o2, | ||
| const mrpt::poses::CPose3D * | pose_o2_wrt_o1 = nullptr |
||
| ) |
Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
- Note
- This is used in mrpt::slam::CIncrementalMapPartitioner
Definition at line 27 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::addMapFrame(), and mrpt::slam::observationsOverlap().
◆ observationsOverlap() [2/4]
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inline |
Estimates the "overlap" or "matching ratio" of two observations (range [0,1]), possibly taking into account their relative positions.
- Note
- This is used in mrpt::slam::CIncrementalMapPartitioner
Definition at line 37 of file observations_overlap.h.
References mrpt::slam::observationsOverlap().
◆ observationsOverlap() [3/4]
| double mrpt::slam::observationsOverlap | ( | const mrpt::obs::CSensoryFrame & | sf1, |
| const mrpt::obs::CSensoryFrame & | sf2, | ||
| const mrpt::poses::CPose3D * | pose_sf2_wrt_sf1 = nullptr |
||
| ) |
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.
- Note
- This is used in mrpt::slam::CIncrementalMapPartitioner
Definition at line 74 of file observations_overlap.cpp.
References mrpt::obs::CSensoryFrame::begin(), mrpt::obs::CSensoryFrame::end(), MRPT_UNUSED_PARAM, and mrpt::slam::observationsOverlap().
◆ observationsOverlap() [4/4]
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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.
- Note
- This is used in mrpt::slam::CIncrementalMapPartitioner
Definition at line 61 of file observations_overlap.h.
References mrpt::slam::observationsOverlap().
◆ PF_SLAM_implementation_gatherActionsCheckBothActObs()
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inlinestatic |
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 847 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::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation().
