|
MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
|
|
MRXT: The Multi-Robot eXploration Tool
Multi-Robot autonomous exploration and mapping simulator.
|
Implements a slam algorithm consisting on a extended Kalman filter. More...
#include <EKFilter.h>
Public Member Functions | |
| EKFilter () | |
| Constructor. | |
| EKFilter (int nrobots, ConfigFile &configFile) | |
| Constructor. | |
| virtual | ~EKFilter () |
| Destructor. | |
| point | getCell (int robot) |
| returns the current cell of the robot | |
| matrix | getCovariance (int robot) const |
| returns the matrix that represents the covariance of the position of the robot | |
| float | getDisp (int robot) const |
| returns a measure of the dispersion of the robot | |
| Ematrix | getGlobalCovariance () const |
| returns the matrix that represents the covariance of robots and marks | |
| binMap * | getImpMap () |
| returns a copy of the current imprecise pose map | |
| gridMapInterface * | getOMap () |
| returns a copy of the current occupancy map | |
| QPixmap * | getPixmap () |
| returns the map as a QPixmap | |
| pose | getPos (int robot) |
| returns the current pose of the robot | |
| binMap * | getPreMap () |
| return a copy of the current precise pose map | |
| QImage * | getQImage () |
| returns the map as a QImage | |
| visualMap * | getVMap () |
| returns a copy of the current visual map | |
| void | initialize (int nrobots, ConfigFile &configfile) |
| initializer | |
Private Member Functions | |
| landmark * | dataAssociation (const matrix &ZT, const matrix &Rt, const pos3d &globalpos, const pose &robotPos, const matrix &H, const matrix &Htrans, const float *desc, const Ematrix &Pcomp, int r) |
| Data association between the new observations and the map. | |
| void | drawPose (IplImage &im, const pose &pos, const matrix &covariance, float xorigin, float yorigin, float resolution) |
| Draws the poses of the robots in an opencv image. | |
| void | evalDisp (int r) |
| evaluates the uncertainty on the position of each robot | |
| float | evalUncertainty () |
| evaluates the uncertainty on the position of each robot | |
| void | execute () |
| primary execution loop | |
| matrix | jacobianF (const pose &pos, const pose &deltaOdo, float thetaodo) |
| jacobian F | |
| Ematrix | jacobianG (const pose &pos, const pose &deltaOdo, float thetaodo) |
| jacobian G | |
| matrix | jacobianH1 (const pose &pos, const pos3d &mark) |
| jacobian H1 | |
| matrix | jacobianH2 (const pose &pos) |
| jacobian H2 | |
| matrix | jacobianJ1 (const pose &pos, const pos3d &mark) |
| jacobian J1 | |
| matrix | motionModel (const pose &pos, const pose &deltaOdo, float thetaodo) |
| motion model | |
| Ematrix | noiseQ (const pose &pos, const pose &deltaOdo, float thetaodo) |
| odometry noise matrix Q | |
| void | onStop () |
| called before stopping | |
| int | setup () |
| set up for the execution thread | |
Private Attributes | |
| ClMutex | closing |
| Ematrix | covariance |
| float | descTh |
| double | determinante |
| float * | dispRobot |
| bool | endSlam |
| int | errorcount |
| matrix | Identity3 |
| binMap * | ipmap |
| pose ** | lastOdoData |
| landmarksData ** | lmData |
| float | mahTh |
| float | maxCorrect |
| float | mediana |
| float | minIncorrect |
| int | nearestNeighbourOrderBy |
| pose ** | odoData |
| gridMapInterface * | omap |
| binMap * | ppmap |
| point * | robotcells |
| rangeSensorData ** | rsData |
| Ematrix | state |
| visualMap * | vmap |
Implements a slam algorithm consisting on a extended Kalman filter.
Author: Miguel Julia <mjulia@umh.es>
Date: 2009
Class EKF
Definition at line 21 of file EKFilter.h.
1.7.6.1
