Egomotion from lidar main source code. More...

#include "lidar_egomotion.h"

Include dependency graph for lidar_egomotion.cpp:

Functions
void	CleanZone (ray_definition *rays, double steering_angle)

void	ConfigurePLICP (struct sm_params *params, LDP ref, LDP sens)

void	ConvertEstimatedToMeasurment (double vl, double dir, float dx, float dy, float *dtheta, double dt, double l, double bwa)

void	CreateMeasurementFromDisplacement (double dx, double dy, double dtheta, double z[2], double dt, double l, double bwa)

void	laser_2_Handler (const sensor_msgs::LaserScan &scan)

void	laser_3_Handler (const sensor_msgs::LaserScan &scan)

int	main (int argc, char **argv)

void	RaysToLDP (ray_definition *src, LDP dst, bool test_angle, double angle)

void	RaysToLDP (ray_config_t cfg, ray_measurment_t src, LDP dst, bool test_angle, double angle)

int	RaysToMbICP (ray_definition src, Tpfp dst)

int	RaysToMbICP (ray_config_t cfg, ray_measurment_t src, Tpfp *dst, bool test_angle, double angle)

void	RaysToPMScan (ray_definition src, PMScan dst)

void	RaysToPMScan (ray_config_t cfg, ray_measurment_t src, PMScan *dst)

void	SetDefaultConfiguration (void)

pcl::PointCloud< pcl::PointXYZ >	wrapper_Laserscan2PointCloud (const sensor_msgs::LaserScan &scan)

Variables
double	bwa =3.40

ray_definition	c_rays

t_flag	flags

Tpfp *	fp1 =NULL

Tpfp *	fp2 =NULL

Tpfp *	fp3 =NULL

double	gl =2.6

ray_history	h_rays

ray_definition *	l2_rays =NULL

ray_definition *	l_rays =NULL

LDP	ldp_1 =NULL

LDP	ldp_2 =NULL

std::vector< pair< double, double > >	measurments

bool	new_laser_2 =false

bool	new_laser_3 =false

bool	new_plc_status =false

bool	new_velocity_status =false

std::vector< pair< double, double > >	odometry_readings

TSMparams	params

struct sm_params	params_sm

std::vector< t_posePtr >	path_laser

std::vector< t_posePtr >	path_odo

PMScan	pm1

PMScan	pm2

pcl::PointCloud< pcl::PointXYZ >	point_cloud_2

pcl::PointCloud< pcl::PointXYZ >	point_cloud_3

struct sm_result	results_sm

std::vector< double >	runtime_MbICP

std::vector< double >	runtime_PlICP

std::vector< double >	runtime_PSM

scan_matching_method	scan_method = MBICP

Tsc	sensorMotion

Tsc	solution

Tsc	solution2

int	step =2

tf::TransformListener *	transform_listener

double	z [2]

Detailed Description

Egomotion from lidar main source code.

Definition in file lidar_egomotion.cpp.

Function Documentation

void CleanZone	(	ray_definition *	rays,
		double	steering_angle
	)

Definition at line 84 of file lidar_egomotion.cpp.

void ConfigurePLICP	(	struct sm_params *	params,
		LDP	ref,
		LDP	sens
	)

A threshold for stopping.

Maximum angular displacement between scans (deg)

Maximum translation between scans (m)

Noise in the scan

Percentage of correspondences to consider: if 0.9, always discard the top 10% of correspondences with more error

Definition at line 667 of file lidar_egomotion.cpp.

void ConvertEstimatedToMeasurment	(	double	vl,
		double	dir,
		float *	dx,
		float *	dy,
		float *	dtheta,
		double	dt,
		double	l,
		double	bwa
	)

Definition at line 243 of file lidar_egomotion.cpp.

void CreateMeasurementFromDisplacement	(	double	dx,
		double	dy,
		double	dtheta,
		double	z[2],
		double	dt,
		double	l,
		double	bwa
	)

Definition at line 535 of file lidar_egomotion.cpp.

void laser_2_Handler ( const sensor_msgs::LaserScan & scan )

Definition at line 760 of file lidar_egomotion.cpp.

void laser_3_Handler ( const sensor_msgs::LaserScan & scan )

Definition at line 766 of file lidar_egomotion.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 784 of file lidar_egomotion.cpp.

void RaysToLDP	(	ray_definition *	src,
		LDP	dst,
		bool	test_angle,
		double	angle
	)

Definition at line 330 of file lidar_egomotion.cpp.

void RaysToLDP	(	ray_config_t *	cfg,
		ray_measurment_t *	src,
		LDP	dst,
		bool	test_angle,
		double	angle
	)

Definition at line 353 of file lidar_egomotion.cpp.

int RaysToMbICP	(	ray_definition *	src,
		Tpfp *	dst
	)

Definition at line 426 of file lidar_egomotion.cpp.

int RaysToMbICP	(	ray_config_t *	cfg,
		ray_measurment_t *	src,
		Tpfp *	dst,
		bool	test_angle,
		double	angle
	)

Definition at line 442 of file lidar_egomotion.cpp.

void RaysToPMScan	(	ray_definition *	src,
		PMScan *	dst
	)

Definition at line 225 of file lidar_egomotion.cpp.

void RaysToPMScan	(	ray_config_t *	cfg,
		ray_measurment_t *	src,
		PMScan *	dst
	)

Definition at line 295 of file lidar_egomotion.cpp.

void SetDefaultConfiguration ( void )

Definition at line 611 of file lidar_egomotion.cpp.

pcl::PointCloud<pcl::PointXYZ> wrapper_Laserscan2PointCloud ( const sensor_msgs::LaserScan & scan )

Definition at line 722 of file lidar_egomotion.cpp.

Variable Documentation

double bwa =3.40

Definition at line 59 of file lidar_egomotion.cpp.

ray_definition c_rays

Definition at line 34 of file lidar_egomotion.cpp.

t_flag flags

Definition at line 64 of file lidar_egomotion.cpp.

Tpfp* fp1 =NULL

Definition at line 55 of file lidar_egomotion.cpp.

Tpfp* fp2 =NULL

Definition at line 56 of file lidar_egomotion.cpp.

Tpfp* fp3 =NULL

Definition at line 57 of file lidar_egomotion.cpp.

double gl =2.6

Definition at line 60 of file lidar_egomotion.cpp.

ray_history h_rays

Definition at line 35 of file lidar_egomotion.cpp.

ray_definition* l2_rays =NULL

Definition at line 37 of file lidar_egomotion.cpp.

ray_definition* l_rays =NULL

Definition at line 36 of file lidar_egomotion.cpp.

LDP ldp_1 =NULL

Definition at line 49 of file lidar_egomotion.cpp.

LDP ldp_2 =NULL

Definition at line 50 of file lidar_egomotion.cpp.

std::vector<pair<double,double> > measurments

Definition at line 74 of file lidar_egomotion.cpp.

bool new_laser_2 =false

Definition at line 79 of file lidar_egomotion.cpp.

bool new_laser_3 =false

Definition at line 80 of file lidar_egomotion.cpp.

bool new_plc_status =false

Definition at line 81 of file lidar_egomotion.cpp.

bool new_velocity_status =false

Definition at line 82 of file lidar_egomotion.cpp.

std::vector<pair<double,double> > odometry_readings

Definition at line 73 of file lidar_egomotion.cpp.

TSMparams params

Definition at line 103 of file MbICP.c.

struct sm_params params_sm

Definition at line 42 of file lidar_egomotion.cpp.

std::vector<t_posePtr> path_laser

Definition at line 67 of file lidar_egomotion.cpp.

std::vector<t_posePtr> path_odo

Definition at line 66 of file lidar_egomotion.cpp.

PMScan pm1

Definition at line 52 of file lidar_egomotion.cpp.

PMScan pm2

Definition at line 53 of file lidar_egomotion.cpp.

pcl::PointCloud<pcl::PointXYZ> point_cloud_2

Definition at line 77 of file lidar_egomotion.cpp.

pcl::PointCloud<pcl::PointXYZ> point_cloud_3

Definition at line 78 of file lidar_egomotion.cpp.

struct sm_result results_sm

Definition at line 43 of file lidar_egomotion.cpp.

std::vector<double> runtime_MbICP

Definition at line 70 of file lidar_egomotion.cpp.

std::vector<double> runtime_PlICP

Definition at line 69 of file lidar_egomotion.cpp.

std::vector<double> runtime_PSM

Definition at line 71 of file lidar_egomotion.cpp.

scan_matching_method scan_method = MBICP

Definition at line 39 of file lidar_egomotion.cpp.

Tsc sensorMotion

Definition at line 45 of file lidar_egomotion.cpp.

Tsc solution

Definition at line 45 of file lidar_egomotion.cpp.

Tsc solution2

Definition at line 45 of file lidar_egomotion.cpp.

int step =2

Definition at line 47 of file lidar_egomotion.cpp.

tf::TransformListener* transform_listener

Definition at line 76 of file lidar_egomotion.cpp.

double z[2]

Definition at line 62 of file lidar_egomotion.cpp.

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation