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) |
The module vasco provides a mapper.