X-lanni
49 lines
1.5 KiB
C++
49 lines
1.5 KiB
C++
#ifndef SCANMATCHERPROCESSOR_H
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#define SCANMATCHERPROCESSOR_H
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#include <gmapping/log/sensorlog.h>
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#include <gmapping/sensor/sensor_range/rangesensor.h>
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#include <gmapping/sensor/sensor_range/rangereading.h>
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//#include <gsl/gsl_eigen.h>
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#include <gmapping/scanmatcher/scanmatcher.h>
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namespace GMapping {
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class ScanMatcherProcessor{
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public:
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ScanMatcherProcessor(const ScanMatcherMap& m);
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ScanMatcherProcessor (double xmin, double ymin, double xmax, double ymax, double delta, double patchdelta);
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virtual ~ScanMatcherProcessor ();
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virtual void processScan(const RangeReading & reading);
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void setSensorMap(const SensorMap& smap, std::string sensorName="FLASER");
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void init();
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void setMatchingParameters
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(double urange, double range, double sigma, int kernsize, double lopt, double aopt, int iterations, bool computeCovariance=false);
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void setRegistrationParameters(double regScore, double critScore);
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OrientedPoint getPose() const;
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inline const ScanMatcherMap& getMap() const {return m_map;}
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inline ScanMatcher& matcher() {return m_matcher;}
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inline void setmaxMove(double mmove){m_maxMove=mmove;}
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bool useICP;
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protected:
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ScanMatcher m_matcher;
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bool m_computeCovariance;
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bool m_first;
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SensorMap m_sensorMap;
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double m_regScore, m_critScore;
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unsigned int m_beams;
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double m_maxMove;
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//state
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ScanMatcherMap m_map;
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OrientedPoint m_pose;
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OrientedPoint m_odoPose;
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int m_count;
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//gsl_eigen_symmv_workspace * m_eigenspace;
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};
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};
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#endif
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