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 virtual base class for storing a map of 2D/3D points. 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 class for storing a map of 2D/3D points: the coordinates (x,y,z) are stored in this class, among with the weights of each points (a "long" counter of the times that point has been seen, useful for weighting in the fusing process). 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 378 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.
Page generated by Doxygen 1.5.8 for MRPT 0.6.5 SVN:exported at Mon Jan 12 13:00:16 UTC 2009 |