The Vasco Module (vasco)

The CARMEN vasco module the provides the mapper for CARMEN. More...


Files

file  egrid.h
 Library for the vasco grid structure.
file  vascocore.h
 Library for scan-matching.

Data Structures

struct  evidence_grid
struct  carmen_vec2_t
struct  carmen_ivec2_t
struct  carmen_svec2_t
struct  carmen_move_t
struct  carmen_gauss_kernel_t
struct  carmen_bbox_t
struct  carmen_vascocore_param_t

Defines

#define TRUE   1
#define FALSE   0
#define MIN(x, y)   (x < y ? x : y)
#define MIN3(x, y, z)   MIN(MIN(x,y),z)
#define MAX(x, y)   (x > y ? x : y)
#define MAX3(x, y, z)   MAX(MAX(x,y),z)

Typedefs

typedef * carmen_vascocore_param_p

Functions

int carmen_mapper_initialize_evidence_grid (evidence_grid *grid, int size_x, int size_y, double resolution, double theta_offset, double prior_occ, double occ_evidence, double emp_evidence, double max_prob, double max_sure_range, double max_range, double wall_thickness)
void carmen_mapper_free_evidence_grid (evidence_grid *grid)
void carmen_mapper_update_evidence_grid (evidence_grid *grid, double laser_x, double laser_y, double laser_theta, int num_readings, float *laser_range, double angular_resolution, double first_beam_angle)
void carmen_mapper_update_evidence_grid_general (evidence_grid *grid, double laser_x, double laser_y, double laser_theta, int num_readings, float *laser_range, float *laser_angle, double angular_resolution, double first_beam_angle)
void carmen_mapper_clear_evidence_grid (evidence_grid *grid)
void carmen_mapper_finish_evidence_grid (evidence_grid *grid, int downsample, int border)
void * carmen_mdalloc (int ndim, int width,...)
void camen_mdfree (void *tip, int ndim)
double carmen_vec_distance (carmen_vec2_t p1, carmen_vec2_t p2)
double carmen_vec_length (carmen_vec2_t v1)
double carmen_point_dist (carmen_point_t pos1, carmen_point_t pos2)
double carmen_move_length (carmen_move_t move)
double carmen_gauss (double x, double mu, double sigma)
carmen_gauss_kernel_t carmen_gauss_kernel (int length)
double carmen_orientation_diff (double start, double end)
carmen_vec2_t carmen_laser_point (carmen_point_t rpos, double val, double angle)
carmen_point_t carmen_point_with_move (carmen_point_t start, carmen_move_t move)
carmen_point_t carmen_point_backwards_with_move (carmen_point_t start, carmen_move_t move)
carmen_point_t carmen_point_from_move (carmen_move_t move)
carmen_point_t carmen_point_backwards_from_move (carmen_move_t move)
carmen_move_t carmen_move_between_points (carmen_point_t start, carmen_point_t end)
void vascocore_init (int argc, char **argv)
void vascocore_init_no_ipc (carmen_vascocore_param_t *new_settings)
void vascocore_reset ()
carmen_point_t vascocore_scan_match (carmen_laser_laser_message scan, carmen_point_t pos)
carmen_point_t vascocore_scan_match_general (int num_readings, float *range, float *angle, double fov, carmen_point_t pos, int first)

Detailed Description

The CARMEN vasco module the provides the mapper for CARMEN.

The module vasco provides a mapper.


Generated on Wed Apr 5 18:34:21 2006 for CARMEN by  doxygen 1.4.4