add slam_gmapping

2025-06-06 16:15:07 +08:00
parent 9187b9fb85
commit a7b75c31cb
141 changed files with 15992 additions and 0 deletions
@@ -0,0 +1,48 @@
+#ifndef SCANMATCHERPROCESSOR_H
+#define SCANMATCHERPROCESSOR_H
+
+#include <gmapping/log/sensorlog.h>
+#include <gmapping/sensor/sensor_range/rangesensor.h>
+#include <gmapping/sensor/sensor_range/rangereading.h>
+//#include <gsl/gsl_eigen.h>
+#include <gmapping/scanmatcher/scanmatcher.h>
+
+namespace GMapping {
+
+class ScanMatcherProcessor{
+	public:
+  ScanMatcherProcessor(const ScanMatcherMap& m);
+  ScanMatcherProcessor (double xmin, double ymin, double xmax, double ymax, double delta, double patchdelta);
+		virtual ~ScanMatcherProcessor ();
+		virtual void processScan(const RangeReading & reading);
+		void setSensorMap(const SensorMap& smap, std::string sensorName="FLASER");
+		void init();
+		void setMatchingParameters
+			(double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, bool computeCovariance=false);
+		void setRegistrationParameters(double regScore, double critScore);
+		OrientedPoint getPose() const;
+		inline const ScanMatcherMap& getMap() const {return m_map;}
+		inline ScanMatcher& matcher() {return m_matcher;}
+		inline void setmaxMove(double mmove){m_maxMove=mmove;}
+		bool useICP;
+	protected:
+		ScanMatcher m_matcher;
+		bool m_computeCovariance;
+		bool m_first;
+		SensorMap m_sensorMap;
+		double m_regScore, m_critScore;
+		unsigned int m_beams;
+		double m_maxMove;
+		//state
+		ScanMatcherMap m_map;
+		OrientedPoint m_pose;
+		OrientedPoint m_odoPose;
+		int  m_count;
+		//gsl_eigen_symmv_workspace * m_eigenspace;
+};
+
+};
+
+#endif
+
+