Localize Class Reference

Collaboration diagram for Localize:

Public Member Functions
	Localize (double laser_max_range, double laser_pose_x, double laser_pose_y, double laser_pose_angle, double laser_noise_range, double laser_noise_bearing, double odom_noise_x, double odom_noise_y, double odom_noise_angle)
	Initialize parameters.
void	SetRobotPose (double x, double y, double angle)
	Initialize robot map pose, and reset odometry to zero.
void	SetPoses (double ox, double oy, double oth, double gx, double gy, double gth)
	Initialize both odometry (if it is not zero) and global (map) pose.
void	SetRobotPoseError (double ex, double ey, double eth)
	Initial pose error.
void	SetLaserPose (double x, double y, double a)
	Update laser pose (limited to x, y ,a for now, though) m m rad.
void	LoadMap (const char *filename)
void	SetMap (const SegmentsVector &map)
void	AddSegment (const Segment &segment)
const SegmentMap &	Map (void) const
bool	Update (double robot_x, double robot_y, double robot_angle, DoublesVector ranges, DoublesVector bearings)
	Compute actualization from robot accumulated odometry and laser reading Returns true if the update was performed (minimum delta in odometry) More...
Pose	pose (void) const
MatrixXd	GetCovariance (void) const

Private Attributes
Scan	scan_
RobotLocation	robot_
bool	has_pose_

Member Function Documentation

Update()

bool Localize::Update	(	double	robot_x,
		double	robot_y,
		double	robot_angle,
		DoublesVector	ranges,
		DoublesVector	bearings
	)

Compute actualization from robot accumulated odometry and laser reading Returns true if the update was performed (minimum delta in odometry)

Compute actualization from robot accumulated odometry and laser reading.

References Scan::SetLastScan().

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The documentation for this class was generated from the following files:

• localize.hh
• localize.cc