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::slam::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.

Collaboration diagram for [mrpt-slam]:

Classes
class	mrpt::slam::CDetectorDoorCrossing

struct	mrpt::slam::CDetectorDoorCrossing::TOptions
	In this structure parameters can be changed to customize the behaviour of this algorithm. More...

struct	mrpt::slam::CDetectorDoorCrossing::TDoorCrossingOutParams
	A structure used as output in this method. 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::CGridMapAligner::TConfigParams
	The ICP algorithm configuration data. More...

struct	mrpt::slam::CGridMapAligner::TReturnInfo
	The ICP algorithm return information. More...

struct	mrpt::slam::CGridMapAligner::TReturnInfo::TPairPlusDistance

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::CMultiMetricMap
	This class stores any customizable set of metric maps. More...

class	mrpt::slam::CRBPFParticleData
	Auxiliary class used in mrpt::slam::CMultiMetricMapPDF. More...

class	mrpt::slam::COccupancyGridMapFeatureExtractor
	A class for detecting features from occupancy grid maps. More...

class	mrpt::slam::CPathPlanningCircularRobot
	An implementation of CPathPlanningMethod. More...

class	mrpt::slam::CPathPlanningMethod
	A virtual base class for computing the optimal path for a robot from a origin location to a target point. 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...

struct	mrpt::slam::CRejectionSamplingRangeOnlyLocalization::TDataPerBeacon
	Data for each beacon observation with a correspondence with the 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
	This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps.

Modules
	Metric SLAM algorithms

	Data association

Enumerations
enum	mrpt::slam::CGridMapAligner::TAlignerMethod { mrpt::slam::CGridMapAligner::amRobustMatch = 0, mrpt::slam::CGridMapAligner::amCorrelation, mrpt::slam::CGridMapAligner::amModifiedRANSAC }
	The type for selecting the grid-map alignment algorithm. More...

enum	mrpt::slam::TICPAlgorithm { mrpt::slam::icpClassic = 0, mrpt::slam::icpLevenbergMarquardt, mrpt::slam::icpIKF }
	The ICP algorithm selection, used in mrpt::slam::CICP::options. More...

enum	mrpt::slam::CMultiMetricMap::TOptions::TMapSelectionForLikelihood { mrpt::slam::CMultiMetricMap::TOptions::mapFuseAll = -1, mrpt::slam::CMultiMetricMap::TOptions::mapGrid = 0, mrpt::slam::CMultiMetricMap::TOptions::mapPoints, mrpt::slam::CMultiMetricMap::TOptions::mapLandmarks, mrpt::slam::CMultiMetricMap::TOptions::mapGasGrid, mrpt::slam::CMultiMetricMap::TOptions::mapWifiGrid, mrpt::slam::CMultiMetricMap::TOptions::mapBeacon, mrpt::slam::CMultiMetricMap::TOptions::mapHeight, mrpt::slam::CMultiMetricMap::TOptions::mapColourPoints, mrpt::slam::CMultiMetricMap::TOptions::mapReflectivity, mrpt::slam::CMultiMetricMap::TOptions::mapWeightedPoints, mrpt::slam::CMultiMetricMap::TOptions::mapOctoMaps, mrpt::slam::CMultiMetricMap::TOptions::mapColourOctoMaps }
	This selects the map to be used when computing the likelihood of an observation. More...

Functions
template<class BINTYPE >
bool	mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs (const CActionCollection actions, const 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::slam::CObservation o1, const mrpt::slam::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::slam::CObservationPtr &o1, const mrpt::slam::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::slam::CSensoryFrame &sf1, const mrpt::slam::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::slam::CSensoryFramePtr &sf1, const mrpt::slam::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...

Enumeration Type Documentation

enum mrpt::slam::CGridMapAligner::TAlignerMethod

The type for selecting the grid-map alignment algorithm.

Enumerator
amRobustMatch
amCorrelation
amModifiedRANSAC

Definition at line 71 of file CGridMapAligner.h.

enum mrpt::slam::TICPAlgorithm

The ICP algorithm selection, used in mrpt::slam::CICP::options.

For details on the algorithms refer to http://www.mrpt.org/Scan_Matching_Algorithms

Enumerator
icpClassic
icpLevenbergMarquardt
icpIKF

Definition at line 26 of file CICP.h.

enum mrpt::slam::CMultiMetricMap::TOptions::TMapSelectionForLikelihood

This selects the map to be used when computing the likelihood of an observation.

This enum has a corresponding mrpt::utils::TEnumType<> specialization.

See also: computeObservationLikelihood

Enumerator
mapFuseAll
mapGrid
mapPoints
mapLandmarks
mapGasGrid
mapWifiGrid
mapBeacon
mapHeight
mapColourPoints
mapReflectivity
mapWeightedPoints
mapOctoMaps
mapColourOctoMaps

Definition at line 113 of file CMultiMetricMap.h.

Function Documentation

double SLAM_IMPEXP mrpt::slam::observationsOverlap	(	const mrpt::slam::CObservation *	o1,
		const mrpt::slam::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.

Note: This is used in mrpt::slam::CIncrementalMapPartitioner

Referenced by mrpt::slam::observationsOverlap().

double mrpt::slam::observationsOverlap	(	const mrpt::slam::CObservationPtr &	o1,
		const mrpt::slam::CObservationPtr &	o2,
		const mrpt::poses::CPose3D *	pose_o2_wrt_o1 = `NULL`
	)

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().

double SLAM_IMPEXP mrpt::slam::observationsOverlap	(	const mrpt::slam::CSensoryFrame &	sf1,
		const mrpt::slam::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.

Note: This is used in mrpt::slam::CIncrementalMapPartitioner

double mrpt::slam::observationsOverlap	(	const mrpt::slam::CSensoryFramePtr &	sf1,
		const mrpt::slam::CSensoryFramePtr &	sf2,
		const mrpt::poses::CPose3D *	pose_sf2_wrt_sf1 = `NULL`
	)

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 58 of file observations_overlap.h.

References mrpt::slam::observationsOverlap().

template<class PARTICLE_TYPE , class MYSELF >

template<class BINTYPE >

bool mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_gatherActionsCheckBothActObs	(	const CActionCollection *	actions,
		const 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 53 of file PF_implementations.h.

References mrpt::slam::CActionRobotMovement2D::computeFromOdometry(), mrpt::slam::CActionCollection::getActionByClass(), mrpt::slam::CActionCollection::getBestMovementEstimation(), mrpt::slam::CActionRobotMovement2D::poseChange, and THROW_EXCEPTION.

Detailed Description

Library mrpt-slam

Classes

Namespaces

Modules

Enumerations

Functions

Observations overlap functions

Enumeration Type Documentation

Function Documentation

Library `mrpt-slam`