Classes | |
class | CAction |
Declares a class for storing a robot action. More... | |
class | CActionCollection |
Declares a class for storing a collection of robot actions. More... | |
class | CActionRobotMovement2D |
Represents a probabilistic 2D movement of the robot mobile base. More... | |
class | CActionRobotMovement3D |
Represents a probabilistic 3D (6D) movement. More... | |
class | CBeacon |
The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. More... | |
class | CBeaconMap |
A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM). More... | |
class | CColouredPointsMap |
A map of 2D/3D points with individual colours (RGB). More... | |
class | CConsistentObservationAlignment |
An algorithm for globally, consistent alignment of a sequence of observations. More... | |
class | CDetectorDoorCrossing |
struct | TGasConcentrationCell |
The contents of each cell in a CGasConcentrationGridMap2D map. More... | |
class | CGasConcentrationGridMap2D |
CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More... | |
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... | |
struct | THeightGridmapCell |
The contents of each cell in a CHeightGridMap2D map. More... | |
class | CHeightGridMap2D |
A mesh representation of a surface which keeps the estimated height for each (x,y) location. More... | |
class | CICP |
Several implementations of ICP (Iterative closest point) algorithms for aligning two point maps. 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 | CLandmark |
The class for storing "landmarks" (visual or laser-scan-extracted features,. More... | |
class | CLandmarksMap |
A class for storing a map of 3D probabilistic landmarks. More... | |
class | CMetricMap |
Declares a virtual base class for all metric maps storage classes. 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 | CMultiMetricMap |
This class stores any customizable set of metric maps. More... | |
struct | TMetricMapInitializer |
Each structure of this kind will determine the kind (and initial configuration) of one map to be build into a CMultiMetricMap object. More... | |
class | TSetOfMetricMapInitializers |
A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and "CMultiMetricMap::setListOfMaps" for effectively creating the list of desired maps. More... | |
class | CRBPFParticleData |
Auxiliary class used in mrpt::slam::CMultiMetricMapPDF. More... | |
class | CMultiMetricMapPDF |
Declares a class that represents a Rao-Blackwellized set of particles for solving the SLAM problem (This class is the base of RBPF-SLAM applications). More... | |
class | CObservation |
Declares a class that represents any robot's observation. More... | |
class | CObservation2DRangeScan |
Declares a class derived from "CObservation" that encapsules a 2D range scan measurement (typically from a laser scanner). More... | |
class | CObservationBatteryState |
This represents a measurement of the batteries on the robot. More... | |
class | CObservationBeaconRanges |
Declares a class derived from "CObservation" that represents one (or more) range measurements to labeled beacons. More... | |
class | CObservationBearingRange |
This observation represents a number of range-bearing value pairs, each one for a detected landmark, which optionally can have identification IDs. More... | |
class | CObservationComment |
This "observation" is actually a placeholder for a text block with comments or additional parameters attached to a given rawlog file. More... | |
class | CObservationGasSensors |
Declares a class derived from "CObservation" that represents a set of readings from gas sensors. More... | |
class | CObservationGPS |
Declares a class derived from "CObservation" that represents a Global Positioning System (GPS) reading. More... | |
class | CObservationImage |
Declares a class derived from "CObservation" that encapsules an image from a camera, whose relative pose to robot is also stored. More... | |
class | CObservationIMU |
This class stores both sequences of raw measurements from an IMU, and/or its attitude estimation (integration of raw measurements). More... | |
class | CObservationOdometry |
An observation of the current (cumulative) odometry for a wheeled robot. More... | |
class | CObservationRange |
Declares a class derived from "CObservation" that encapsules a single range measurement, and associated parameters. More... | |
class | CObservationStereoImages |
Declares a class derived from "CObservation" that encapsule a pair of images taken by a stereo camera. More... | |
class | CObservationVisualLandmarks |
Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera at a given instant of time. More... | |
class | COccupancyGridMap2D |
COccupancyGridMap2D is a class for storing an occupancy grid map. More... | |
class | CPathPlanningCircularRobot |
An implementation of CPathPlanningMethod. More... | |
class | CPathPlanningMethod |
A virtual base class for computing the optimal path for a robot from a origin location to a target point. More... | |
class | CPointsMap |
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. More... | |
class | CRangeBearingKFSLAM |
A simple implementation of EKF-based SLAM with range-bearing sensors, odometry, a full 6D robot pose, and 3D landmarks. More... | |
class | CRawlog |
This class stores a rawlog (robotic datasets) in one of two possible formats:
| |
class | CRawlogXXL |
This class is identical to slam::CRawlog but it transparently manages the dump of objects to a temporary file in disk, so it can handle very large rawlogs that otherwise don't fit in memory (EXPERIMENTAL, DO NOT USE!!!!). More... | |
class | CRejectionSamplingRangeOnlyLocalization |
An implementation of rejection sampling for generating 2D robot pose from range-only measurements within a landmarks (beacons) map. More... | |
class | CRobotSimulator |
This class can be used to simulate the kinematics and dynamics of a differential driven planar mobile robot, including odometry errors and dynamics limitations. More... | |
class | CSensFrameProbSequence |
This class stores a sequence of <Probabilistic Pose,SensoryFrame> pairs, thus a "metric map" can be totally determined with this information. More... | |
class | CSensoryFrame |
Declares a class for storing a "sensory frame", thus a set of "observations" of the robot, taken exactly from the same location.The "observations" can be of many different kinds. More... | |
class | CSimplePointsMap |
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More... | |
class | TKLDParams |
Option set for KLD algorithm. More... | |
Typedefs | |
typedef std::deque< CBeacon > | TSequenceBeacons |
Internal use. | |
typedef std::vector< CLandmark > | TSequenceLandmarks |
Internal use. | |
typedef std::deque< CMetricMap * > | TMetricMapList |
A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):. | |
typedef std::pair < mrpt::system::TTimeStamp, CObservationPtr > | TTimeObservationPair |
For usage with CRawlog classes. | |
typedef std::multimap < mrpt::system::TTimeStamp, CObservationPtr > | TListTimeAndObservations |
For usage with CRawlog classes. | |
Enumerations | |
enum | TICPAlgorithm { icpClassic = 0, icpLevenbergMarquardt, icpIKF } |
The ICP algorithm selection, used in mrpt::slam::CICP::options. More... | |
enum | TIMUDataIndex { IMU_X_ACC = 0, IMU_Y_ACC, IMU_Z_ACC, IMU_YAW_VEL, IMU_PITCH_VEL, IMU_ROLL_VEL, IMU_X_VEL, IMU_Y_VEL, IMU_Z_VEL, IMU_YAW, IMU_PITCH, IMU_ROLL, IMU_X, IMU_Y, IMU_Z } |
Symbolic names for the indices of IMU data (refer to mrpt::slam::CObservationIMU). More... | |
Functions | |
bool | operator< (const mrpt::slam::CMetricMap::TMatchingPair &a, const mrpt::slam::CMetricMap::TMatchingPair &b) |
A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx. | |
bool | operator== (const mrpt::slam::CMetricMap::TMatchingPair &a, const mrpt::slam::CMetricMap::TMatchingPair &b) |
A comparison operator. | |
bool | operator== (const mrpt::slam::CMetricMap::TMatchingPairList &a, const mrpt::slam::CMetricMap::TMatchingPairList &b) |
A comparison operator. | |
bool | operator< (const COccupancyGridMap2D::TPairLikelihoodIndex &e1, const COccupancyGridMap2D::TPairLikelihoodIndex &e2) |
typedef std::multimap<mrpt::system::TTimeStamp, CObservationPtr> mrpt::slam::TListTimeAndObservations |
typedef std::deque<CMetricMap*> mrpt::slam::TMetricMapList |
A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):.
Definition at line 413 of file CMetricMap.h.
typedef std::deque<CBeacon> mrpt::slam::TSequenceBeacons |
typedef std::vector<CLandmark> mrpt::slam::TSequenceLandmarks |
typedef std::pair<mrpt::system::TTimeStamp, CObservationPtr> mrpt::slam::TTimeObservationPair |
The ICP algorithm selection, used in mrpt::slam::CICP::options.
For details on the algorithms refer to http://babel.isa.uma.es/mrpt/index.php/Scan_Matching_Algorithms
Symbolic names for the indices of IMU data (refer to mrpt::slam::CObservationIMU).
IMU_X_ACC | |
IMU_Y_ACC | |
IMU_Z_ACC | |
IMU_YAW_VEL | |
IMU_PITCH_VEL | |
IMU_ROLL_VEL | |
IMU_X_VEL | |
IMU_Y_VEL | |
IMU_Z_VEL | |
IMU_YAW | |
IMU_PITCH | |
IMU_ROLL | |
IMU_X | |
IMU_Y | |
IMU_Z |
Definition at line 46 of file CObservationIMU.h.
bool mrpt::slam::operator< | ( | const COccupancyGridMap2D::TPairLikelihoodIndex & | e1, | |
const COccupancyGridMap2D::TPairLikelihoodIndex & | e2 | |||
) |
bool mrpt::slam::operator< | ( | const mrpt::slam::CMetricMap::TMatchingPair & | a, | |
const mrpt::slam::CMetricMap::TMatchingPair & | b | |||
) |
A comparison operator, for sorting lists of TMatchingPair's, first order by this_idx, if equals, by other_idx.
bool mrpt::slam::operator== | ( | const mrpt::slam::CMetricMap::TMatchingPairList & | a, | |
const mrpt::slam::CMetricMap::TMatchingPairList & | b | |||
) |
A comparison operator.
bool mrpt::slam::operator== | ( | const mrpt::slam::CMetricMap::TMatchingPair & | a, | |
const mrpt::slam::CMetricMap::TMatchingPair & | b | |||
) |
A comparison operator.
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