MRPT
1.9.9

SLAM and PFlocalization algorithms.
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[New in MRPT 2.0.0]
This library is part of MRPT and can be installed in Debianbased systems with:
sudo apt install libmrptslamdev
See: Using MRPT from your CMake project
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::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...  
struct  mrpt::slam::map_keyframe_t 
Map keyframe, comprising raw observations and they as a metric map. More...  
class  mrpt::slam::CIncrementalMapPartitioner 
Finds partitions in metric maps based on Ncut graph partition theory. 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, STORAGE > 
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  
Typedefs  
using  mrpt::slam::similarity_func_t = std::function< double(const map_keyframe_t &kf1, const map_keyframe_t &kf2, const mrpt::poses::CPose3D &relPose2wrt1)> 
Type of similarity evaluator for map keyframes. More...  
Enumerations  
enum  mrpt::slam::TICPCovarianceMethod { mrpt::slam::icpCovLinealMSE = 0, mrpt::slam::icpCovFiniteDifferences } 
ICP covariance estimation methods, used in mrpt::slam::CICP::options. More...  
enum  mrpt::slam::similarity_method_t : uint8_t { mrpt::slam::smMETRIC_MAP_MATCHING = 0, mrpt::slam::smOBSERVATION_OVERLAP, mrpt::slam::smCUSTOM_FUNCTION } 
For use in CIncrementalMapPartitioner. More...  
Functions  
template<class BINTYPE >  
bool  mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF, STORAGE >::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  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...  
using mrpt::slam::similarity_func_t = typedef std::function<double( const map_keyframe_t& kf1, const map_keyframe_t& kf2, const mrpt::poses::CPose3D& relPose2wrt1)> 
Type of similarity evaluator for map keyframes.
For use in CIncrementalMapPartitioner
Definition at line 49 of file CIncrementalMapPartitioner.h.
enum mrpt::slam::similarity_method_t : uint8_t 
For use in CIncrementalMapPartitioner.
Enumerator  

smMETRIC_MAP_MATCHING  
smOBSERVATION_OVERLAP  
smCUSTOM_FUNCTION 
Definition at line 27 of file CIncrementalMapPartitioner.h.
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 = nullptr 

) 
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, IS_CLASS, mrpt::maps::TMatchingParams::maxAngularDistForCorrespondence, and mrpt::maps::TMatchingParams::maxDistForCorrespondence.
Referenced by eval_similarity_observation_overlap(), 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 34 of file observations_overlap.h.
References mrpt::slam::observationsOverlap().
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.
Definition at line 70 of file observations_overlap.cpp.
References 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, STORAGE >::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 46 of file PF_implementations.h.
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