|
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.
|
Implement common attributes and methods for slam algorithms. More...
#include <vslamFilter.h>
Signals | |
| void | slamUpdated () |
Public Member Functions | |
| vslamFilter () | |
| Constructor. | |
| vslamFilter (int nrobots, ConfigFile &configFile) | |
| Constructor. | |
| virtual | ~vslamFilter () |
| Destructor. | |
| void | disableRobotBase (int r) |
| virtual point | getCell (int robot)=0 |
| returns the current cell of the robot | |
| virtual matrix | getCovariance (int robot) const =0 |
| returns the matrix that represents the covariance of the position of the robot | |
| virtual float | getDisp (int robot) const =0 |
| returns a measure of the dispersion of the robot | |
| virtual Ematrix | getGlobalCovariance () const =0 |
| returns the matrix that represents the covariance of robots and marks | |
| int | getGMHeight () const |
| returns the height in cells of the grid map | |
| int | getGMWidth () const |
| returns the width in cells of the grid map | |
| float | getHeight () const |
| return the height of the map | |
| virtual binMap * | getImpMap ()=0 |
| returns a copy of the current imprecise pose map | |
| bool | getLoc (int robot) const |
| return the current state of localization of the robot | |
| int | getNumRobots () const |
| return the number of robots | |
| virtual gridMapInterface * | getOMap ()=0 |
| returns a copy of the current occupancy map | |
| virtual QPixmap * | getPixmap ()=0 |
| virtual pose | getPos (int robot)=0 |
| returns the current pose of the robot | |
| virtual binMap * | getPreMap ()=0 |
| return a copy of the current precise pose map | |
| virtual QImage * | getQImage ()=0 |
| float | getResolution () const |
| returns the resolution of the gridmap | |
| float | getSampleTime () const |
| returns the period of the simulation time step | |
| float | getTime () const |
| returns the current simulation time | |
| virtual visualMap * | getVMap ()=0 |
| returns a copy of the current visual map | |
| float | getWidth () const |
| returns the width of the map | |
| float | getXOrigin () const |
| return the x position of the origin of grid map in real coordinates | |
| float | getYOrigin () const |
| return the y position of the origin of grid map in real coordinates | |
| void | initialize (int nrobots, ConfigFile &configfile) |
| initializer | |
| void | setGridMapName (const char *) |
| sets the name of the gridmap file | |
| void | setHighThreshold (float thb) |
| sets the high uncertainty threshold for the localization state | |
| void | setLogName (const char *) |
| sets the name of the log file | |
| void | setLowThreshold (float tha) |
| sets the low uncertainty threshold for the localization state | |
| void | setRobotBase (int robot, robotBase &rbase) |
| sets the pointer to a robot base object | |
| void | setWindowName (const char *) |
| void | setWorldModel (worldModelInterface &scene) |
| sets the world model | |
Protected Member Functions | |
| virtual void | execute ()=0 |
| primary execution loop | |
| pose | odometryModel (const pose &lastOdo, const pose &deltaOdo, const pose &lastPose) |
| returns a likely evolution of the robot pose using the odometry model | |
| virtual void | onStop ()=0 |
| called before stopping | |
| virtual int | setup ()=0 |
| set up for the execution thread | |
| void | updateIPMap (const point &rpos, binMap &ipmap, float disp, bool badloc) |
| updates imprecise poses map | |
| void | updatePPMap (const point &rpos, binMap &ppmap, float disp, bool badloc) |
| updates precise poses map | |
Protected Attributes | |
| float | alfa1 |
| float | alfa2 |
| odometry params | |
| float | alfa3 |
| odometry params | |
| float | alfa4 |
| odometry params | |
| bool * | badlocalized |
| pointer to world model | |
| bool | displayfeatures |
| flag that indicates if the position of the robot for each particle must be displayed | |
| bool | displayipmap |
| flag that indicates if the occupancy map must be displayed | |
| bool | displayomap |
| name for log results file | |
| bool | displayposes |
| flag that indicates if the occupancy map must be displayed | |
| bool | displayppmap |
| flag that indicates if the occupancy map must be displayed | |
| float | drifttrans |
| odometry params | |
| int | gmheight |
| grid map width | |
| int | gmtype |
| odometry params | |
| int | gmwidth |
| grip map resolution | |
| float | height |
| real width | |
| char * | logstr |
| localization state for each robot (well localized / bad localized) | |
| int | nBots |
| int | nmarks |
| type of data association | |
| bool | perfectMatching |
| visual map implementation | |
| robotBase ** | rbase |
| y position in real coordinates of grid map origin | |
| float | resolution |
| real height | |
| bool * | robotsEnabled |
| pointers to robots bases | |
| bool | saveAviFile |
| flag that indicates if the features must be displayed | |
| worldModelInterface * | scene |
| float | th_high |
| number of robots | |
| float | th_low |
| deslocalization threshold | |
| int | vmtype |
| gridmap algorithm | |
| float | width |
| localization threshold | |
| char * | windowName |
| num of landmarks to reserve | |
| float | xorigin |
| grid map height | |
| float | yorigin |
| x position in real coordinates of grid map origin | |
Implement common attributes and methods for slam algorithms.
Definition at line 25 of file vslamFilter.h.
1.7.6.1
