MipTasks::ScanMatching Class Reference
[Scan Matching]

Localizes a robot using the scan matching. More...

#include <ScanMatching.h>

Inheritance diagram for MipTasks::ScanMatching:

List of all members.

Public Member Functions
	ScanMatching (ResourcePointers resources, int argc, const char *argv[])
	Constructor.
	~ScanMatching ()
	Destructor.
TaskPlate	getPlate () const
	Gets the ScanMatching task plate.
Time	getMaxDuration ()
	Gets the maximum duration of the task.
Time	getMaxSamplPeriod ()
	Gets the minimum allowed time period between two calls of a run.
Time	getMinSamplPeriod ()
	Gets the maximum allowed time period between two calls of a run.
TaskOutputs	run ()
	Executes a step of the task.

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Detailed Description

Localizes a robot using the scan matching.

The available options are:

• scanMatchingSampleTime: suggested time between two scans to match, in seconds, <= 0.0 means never checked. Default: 2.0.
• scanMatchingMaxLinDist: max distance to travel without that a scan matching takes place, meters, <=0.0 means never checked. Default: 0.15.
• scanMatchingMaxAngDist: max angle (in module) to rotate without that a scan matching takes place, radians in ]0,PI[, outside this interval means never checked. Default: 0.10.
• scanMatchingMaxPosCorrection: max position correction allowed for the scan matcher, in meters, <=0.0 means accept all. Default: 0.10.
• scanMatchingDebugLevel: custom debug level of the Scan matching task, 0 (default)
• scanMatchingMaxAngCorrection: max angular correction allowed for the scan matcher, in radians, <=0.0 means accept all. Default: 0.25
• scanMatchingMaxReading: scan readings bigger than this are not considred in the scan matching, in meters, <=0.0 means accept all. Default: 0.0
• scanMatchingMinReading: scan readings smaller than this are not considred in the scan matching, in meters, <=0.0 means accept all. Default: 0.0
• scanMatchingPreprocTresh: scan points too far from each other are invalidated, treshold in meters, <=0.0 means accept all (deactivated). Default: 0.0
• scanMatchingMapFile: file of scans with respect to the scan Matcher localize the robot, empty means features disabled. Default: ""
• scanMatchingMapMaxLinDist: maximum linear distance to take a scan in the map, in meters (make sens only if scanMatchingMapFile!=\"\"). Default: 0.4
• scanMatchingMapMaxAngDist: maximum angular distance to take a scan in the map, in positive radians (make sens only if scanMatchingMapFile!=\"\"). Default: 2.1
• scanMatchingCorrect: applies the correction to the MobileRob (yes) or not (no). Default: "yes"

Author:

Antonio Franchi

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Constructor & Destructor Documentation

MipTasks::ScanMatching::ScanMatching	(	ResourcePointers	resources,
		int	argc,
		const char *	argv[]
	)

Constructor.

Parameters:

	resources	Resource pointer.
	argc	Argc.
	argv	Argv.

MipTasks::ScanMatching::~ScanMatching

(

)

Destructor.

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Member Function Documentation

TaskPlate MipTasks::ScanMatching::getPlate

(

)

const [inline, virtual]

Gets the ScanMatching task plate.

Returns:

ScanMatching task plate.

Note:

Mandatory, every task is expected to implement it.

Implements MipTasks::Task.

Time MipTasks::ScanMatching::getMaxDuration

(

)

[inline, virtual]

Gets the maximum duration of the task.

Returns:

Maximum duration of the task.

Implements MipTasks::Task.

Time MipTasks::ScanMatching::getMaxSamplPeriod

(

)

[inline, virtual]

Gets the minimum allowed time period between two calls of a run.

Returns:

Minimum allowed time period between two calls of a run.

Implements MipTasks::Task.

Time MipTasks::ScanMatching::getMinSamplPeriod

(

)

[inline, virtual]

Gets the maximum allowed time period between two calls of a run.

Returns:

Maximum allowed time period between two calls of a run.

Implements MipTasks::Task.

TaskOutputs MipTasks::ScanMatching::run

(

void

)

[virtual]

Executes a step of the task.

FOR DEBUG

Implements MipTasks::Task.

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The documentation for this class was generated from the following files:

• tasks/ScanMatching/ScanMatching.h
• tasks/ScanMatching/ScanMatching.cpp