MipBaselib Namespace Reference
[Exploration Graph, Grid, Roulette, Sensors, Shared Listener Module, Internet protocol sockets, Csm interface, Strigstream Utilities, Thread, Time, Trajectory, Types]

Classes

class TriaMatrix

class PosId3D

Position id, a position endowed with an associated integer. More...

class ExplorationNode

Node of a graph. More...

class ExplorationGraph

Node of a graph. More...

class ExplorationParams

Class containing various settings of Exploration. More...

class Cell

Cell of a grid. More...

class FrontierArc

Grid reapresentation for a frontier arc of robot's Local Safe Region. More...

class Frontier

A vector of frontier FrontierArc. More...

class Grid

Grid reapresentation for robot's sorrounding. More...

class ProbCell

A cell in an occupancy grid for probabalistic mapping of a robot's surrounding. More...

class ProbGrid

A occupancy grid for probabalistic mapping of a robot's surrounding. More...

class ScanPar

Parameters of an Abstract Range-sensor. More...

class PerceptionCellState

A class representing the state of a cell. More...

class PerceptionCell

Cell of a grid. More...

class PerceptionFrontierArc

Grid representation for a frontier arc of robot's Local Safe Region. More...

class PerceptionFrontier

A vector of PerceptionFrontier PerceptionFrontierArc. More...

class PerceptionGridPar

A class to control the parameters of the Grid. More...

class PerceptionGrid

Grid representation for robot's sorrounding. More...

class Message

Message. More...

class MessageHandler

MessageHandler. More...

struct MIPMatrix

class ProbabilityMass

Represents an integer value associated with its probability. More...

class Discrete

Provides a class to represent the generic Discrete pdf. More...

class Gaussian

Provides a class to represent the generic 2D Gaussian pdf. More...

class GaussianComponent

Provides a class to represent a component of a Gaussian Mixture pdf. More...

class GaussianMixture

Provides a class to represent the generic 2D GaussianMixture pdf. More...

class GaussianComponentID

Provides a class to represent a component of a Gaussian Mixture pdf with an associated integer Identity. More...

class GaussianMixtureID

Provides a class to represent the generic 2D GaussianMixture pdf, with each compnent associated to an integer identity. More...

class GaussianComponentJointDiscrete

class GaussianMixtureJointId

Provides a class to represent the generic 2D GaussianMixture pdf. More...

class PDF

Provides a class to represent the generic pdf. More...

class ROSiFaceBoss

class ROSiFace

A simple class to handle Publisher and Subscriber on a topic. More...

struct Pocket

This struct represents a pocket of a weighted roulette. More...

class Roulette

Allows the simulation of a weighted/unweighted roulette-like random process. More...

class CameraPar3DArma

class CameraCCDPar3DArma

class Ray

Represents the triple (reading,bearing,valid) of a ray of a range scan. More...

class Raymm

represents the triple (reading,bearing,valid) of a ray of a range scan More...

class Scan

Represents a laser scan. More...

class ScanMap

class CharKeybSharList

Todo. More...

class FifoSharList

Todo. More...

class SharedListener

Todo. More...

class StringKeybSharList

class UDPSharedListener

Singleton class for connectionless communication. More...

class CsmInterfaceOut

Output of the scan matcher. More...

class CsmInterfaceOutStats

class CsmInterfaceErr

Err of the scan matcher. More...

class CsmInterfaceIn

classe per la memorizzazione dell input dello scan-matcher More...

class CsmInterface

Interface to the canonical scan matcher. More...

class Roto2DArma

This class represents the generic rotation matrix in 2D. More...

class Position2DArma

class Velocity2DArma

Represents velocity vector in R^2 using armadillo libraries. More...

class Acceleration2DArma

Represents acceleration vector in R^3 using armadillo libraries. More...

class Roto2DHomoArma

class Pose2DArma

class Odometry2DArma

Odometry in 2D, linear velocity along x, y and angular velocity along z. More...

class Odometry2DTimeArma

class Position2DTimeArma

class PosiFeatures2DTimeArma

class Observation2DTimeArma

class Roto3DArma

class Position3DArma

class Roto3DHomoArma

class Velocity3DArma

Represents velocity vector in R^3 using armadillo libraries. More...

class Acceleration3DArma

Represents acceleration vector in R^3 using armadillo libraries. More...

class Pose3DArma

class IMU3DArma

class Odometry3DArma

class Odometry3DTimeArma

class Position3DTimeArma

class PosiFeatures3DTimeArma

class Observation3DTimeArma

class SsUtils

this class provides a fast and reliable way to encrypt/decrypt some data types to/from stringstream objects. Supported types are double, couple of double (for drive and turnrate), Pose, Scan, PosiFeatures, Time More...

class Thread

class EnhancedMutEx

Provides to another resource class, enanched MutEx capability. More...

class SimTime

class SimTimer

timer class, a timer More...

class Time

time class, provide a representation of time in seconds and microseconds More...

class Timer

timer class, a timer More...

class TimeUtilities

some Time utilities gathered in a class More...

class ConstSpeedParam

Includes the parameters useful to describe a constant speed profile. More...

class TriangularSpeedParam

Includes the parameters useful to describe a triangular speed profile. More...

class TrapezoidalSpeedParam

Includes the parameters useful to describe a trapezoidal speed profile. More...

class CubicSpeedParam

Includes the parameters useful to describe a cubic speed profile. More...

class TrapezoidalAccParam

Includes the parameters useful to describe a trapezoidal acceleration profile. More...

class TrapezoidalDecParam

Includes the parameters useful to describe a trapezoidal deceleration profile. More...

class TimeLaw

Virtual class for time laws implementation. More...

class Stillness

Implements a constant speed profile. More...

class ConstSpeed

Implements a constant speed profile. More...

class TriangularSpeed

Implements a triangular speed profile. More...

class TrapezoidalSpeed

Implements a trapezoidal speed profile. More...

class CubicSpeed

Implements a cubic speed profile. More...

class TrapezoidalAcc

Implements a trapezoidal acceleration profile. More...

class TrapezoidalDec

Implements a trapezoidal deceleration profile. More...

class AnalyticalTrajParam

Includes the parameters useful to describe a trajectory. More...

class SampledTrajParam

Includes the parameters useful to describe a trajectory. More...

class Trajectory

Implements a sampled trajectory. More...

class AnalyticalTrajectory

class SampledTrajectory

Implements a sampled trajectory. More...

struct IMUOdometry

struct VelOdometry

struct filterState

class DiffDriveEncoderReading

class MotionModuleState

State of an unycicle. More...

class MotionModuleTState

State of an unycicle with timestamp. More...

class MotionModuleTStateLog

A list of states of an unycicle with timestamps. More...

Typedefs

typedef vector< DubInt > LSR

Vector containing the indexes of the cells belonging to the LSR.

typedef vector< DubInt > LSRBound

Vector containing the indexes of the cells belonging to the boundary of the LSR.

typedef vector< DubInt > LRR

Vector containing the indexes of the cells belonging to the LRR.

typedef vector< DubInt > LRRBound

Vector containing the indexes of the cells belonging to the boundary of the LRR.

typedef Mat< Decimal > DMat

typedef Col< Decimal > DCol

typedef Row< Decimal > DRow

typedef vector< Ray > Rays

typedef vector< Raymm > Raymms

Enumerations

enum CanonicalMIPMatrix { IDENTITY_MATRIX, ZERO_MATRIX, NUM_CANONICAL_MATRIX }

enum ROSiFaceOpeningModes { ROSIFACE_R, ROSIFACE_W, ROSIFACE_RW }

Operating modes of the MipBaselib::ROSiFace. More...

enum CanonicalArmaMatrix { IDENTITY_ARMA_MATRIX, ZERO_ARMA_MATRIX, NUM_CANONICAL_ARMA_MATRIX }

enum CanonicalCameraArmaMatrix { PIXEL_CAMERA_ARMA_MATRIX, METRIC_CAMERA_ARMA_MATRIX, NUM_CAMERA_ARMA_MATRIX }

enum OdomIntegrMethods {
ODO_INT_METH_EXACT, ODO_INT_METH_RUNKUT2, ODO_INT_METH_DIRECT_INT, ODO_INT_METH_TRAPZ,
ODO_INT_METH_NUM
}

enum TimestampLocation { TSPOS_IS_INSIDE, TSPOS_IS_BEFORE, TSPOS_IS_AFTER, TSPOS_NUM }

Functions

int evalCoeff (Cell *cell)

bool compareFscore (ExplorationNode *first, ExplorationNode *second)

static bool _compareByFrame (Cell *first, Cell *second)

Useful to sort vectors of Cell* by frame.

static bool _compareByCone (Cell *first, Cell *second)

Useful to sort vectors of Cell* by cone.

static bool _compareByIndexI (Cell *first, Cell *second)

Useful to sort vectors of Cell* by index i of their indexes.

static bool _compareByIndexJ (Cell *first, Cell *second)

Useful to sort vectors of Cell* by index j of their indexes.

static bool _compareByFrame (PerceptionCell *first, PerceptionCell *second)

Useful to sort vectors of PerceptionCell* by frame.

static bool _compareByCone (PerceptionCell *first, PerceptionCell *second)

Useful to sort vectors of PerceptionCell* by cone.

static bool _compareByIndexI (PerceptionCell *first, PerceptionCell *second)

Useful to sort vectors of PerceptionCell* by index i of their indexes.

static bool _compareByIndexJ (PerceptionCell *first, PerceptionCell *second)

Useful to sort vectors of PerceptionCell* by index j of their indexes.

static bool _compareByBearing (Ray first, Ray second)

template<class T>

void * sharedListenerThread (void *p)

Variables

const char * odomIntegrMethodNames [ODO_INT_METH_NUM]

static const char * CanonicalMIPMatrixName [NUM_CANONICAL_MATRIX]

static const char * CanonicalArmaMatrixName [NUM_CANONICAL_ARMA_MATRIX]

static const char * CanonicalCameraArmaMatrixName [NUM_CAMERA_ARMA_MATRIX]

Typedef Documentation

typedef vector< DubInt > MipBaselib::LRR

Vector containing the indexes of the cells belonging to the LRR.

typedef vector< DubInt > MipBaselib::LRRBound

Vector containing the indexes of the cells belonging to the boundary of the LRR.

typedef vector< DubInt > MipBaselib::LSR

Vector containing the indexes of the cells belonging to the LSR.

typedef vector< DubInt > MipBaselib::LSRBound

Vector containing the indexes of the cells belonging to the boundary of the LSR.

typedef vector<Raymm> MipBaselib::Raymms

typedef vector<Ray> MipBaselib::Rays

Enumeration Type Documentation

enum MipBaselib::CanonicalArmaMatrix

Enumerator:

IDENTITY_ARMA_MATRIX
ZERO_ARMA_MATRIX
NUM_CANONICAL_ARMA_MATRIX

enum MipBaselib::CanonicalCameraArmaMatrix

Enumerator:

PIXEL_CAMERA_ARMA_MATRIX
METRIC_CAMERA_ARMA_MATRIX
NUM_CAMERA_ARMA_MATRIX

enum MipBaselib::OdomIntegrMethods

Enumerator:

ODO_INT_METH_EXACT
ODO_INT_METH_RUNKUT2
ODO_INT_METH_DIRECT_INT
ODO_INT_METH_TRAPZ
ODO_INT_METH_NUM

enum MipBaselib::TimestampLocation

Enumerator:

TSPOS_IS_INSIDE
TSPOS_IS_BEFORE
TSPOS_IS_AFTER
TSPOS_NUM

Function Documentation

static bool MipBaselib::_compareByBearing	(	Ray	first,
		Ray	second
	)			`[static]`

bool MipBaselib::_compareByCone	(	PerceptionCell *	first,
		PerceptionCell *	second
	)			`[static]`

Useful to sort vectors of PerceptionCell* by cone.

bool MipBaselib::_compareByCone	(	Cell *	first,
		Cell *	second
	)			`[static]`

Useful to sort vectors of Cell* by cone.

bool MipBaselib::_compareByFrame	(	PerceptionCell *	first,
		PerceptionCell *	second
	)			`[static]`

Useful to sort vectors of PerceptionCell* by frame.

Todo:: comment.

bool MipBaselib::_compareByFrame	(	Cell *	first,
		Cell *	second
	)			`[static]`

Useful to sort vectors of Cell* by frame.

Todo:: comment.

bool MipBaselib::_compareByIndexI	(	PerceptionCell *	first,
		PerceptionCell *	second
	)			`[static]`

Useful to sort vectors of PerceptionCell* by index i of their indexes.

bool MipBaselib::_compareByIndexI	(	Cell *	first,
		Cell *	second
	)			`[static]`

Useful to sort vectors of Cell* by index i of their indexes.

bool MipBaselib::_compareByIndexJ	(	PerceptionCell *	first,
		PerceptionCell *	second
	)			`[static]`

Useful to sort vectors of PerceptionCell* by index j of their indexes.

bool MipBaselib::_compareByIndexJ	(	Cell *	first,
		Cell *	second
	)			`[static]`

Useful to sort vectors of Cell* by index j of their indexes.

Variable Documentation

const char* MipBaselib::CanonicalArmaMatrixName[NUM_CANONICAL_ARMA_MATRIX] [static]

Initial value:

{
 "IDENTITY_ARMA_MATRIX",
 "ZERO_ARMA_MATRIX"
}

const char* MipBaselib::CanonicalCameraArmaMatrixName[NUM_CAMERA_ARMA_MATRIX] [static]

Initial value:

{
 "PIXEL_ARMA_MATRIX",
 "METRIC_ARMA_MATRIX"
}

const char * MipBaselib::odomIntegrMethodNames

Initial value:

 {
  "exact",
  "runge-kutta2",
  "directIntegration",
  "trapzIntegration"
 }


Classes
class	TriaMatrix
class	PosId3D
	Position id, a position endowed with an associated integer. More...
class	ExplorationNode
	Node of a graph. More...
class	ExplorationGraph
	Node of a graph. More...
class	ExplorationParams
	Class containing various settings of Exploration. More...
class	Cell
	Cell of a grid. More...
class	FrontierArc
	Grid reapresentation for a frontier arc of robot's Local Safe Region. More...
class	Frontier
	A vector of frontier FrontierArc. More...
class	Grid
	Grid reapresentation for robot's sorrounding. More...
class	ProbCell
	A cell in an occupancy grid for probabalistic mapping of a robot's surrounding. More...
class	ProbGrid
	A occupancy grid for probabalistic mapping of a robot's surrounding. More...
class	ScanPar
	Parameters of an Abstract Range-sensor. More...
class	PerceptionCellState
	A class representing the state of a cell. More...
class	PerceptionCell
	Cell of a grid. More...
class	PerceptionFrontierArc
	Grid representation for a frontier arc of robot's Local Safe Region. More...
class	PerceptionFrontier
	A vector of PerceptionFrontier PerceptionFrontierArc. More...
class	PerceptionGridPar
	A class to control the parameters of the Grid. More...
class	PerceptionGrid
	Grid representation for robot's sorrounding. More...
class	Message
	Message. More...
class	MessageHandler
	MessageHandler. More...
struct	MIPMatrix
class	ProbabilityMass
	Represents an integer value associated with its probability. More...
class	Discrete
	Provides a class to represent the generic Discrete pdf. More...
class	Gaussian
	Provides a class to represent the generic 2D Gaussian pdf. More...
class	GaussianComponent
	Provides a class to represent a component of a Gaussian Mixture pdf. More...
class	GaussianMixture
	Provides a class to represent the generic 2D GaussianMixture pdf. More...
class	GaussianComponentID
	Provides a class to represent a component of a Gaussian Mixture pdf with an associated integer Identity. More...
class	GaussianMixtureID
	Provides a class to represent the generic 2D GaussianMixture pdf, with each compnent associated to an integer identity. More...
class	GaussianComponentJointDiscrete
class	GaussianMixtureJointId
	Provides a class to represent the generic 2D GaussianMixture pdf. More...
class	PDF
	Provides a class to represent the generic pdf. More...
class	ROSiFaceBoss
class	ROSiFace
	A simple class to handle Publisher and Subscriber on a topic. More...
struct	Pocket
	This struct represents a pocket of a weighted roulette. More...
class	Roulette
	Allows the simulation of a weighted/unweighted roulette-like random process. More...
class	CameraPar3DArma
class	CameraCCDPar3DArma
class	Ray
	Represents the triple (reading,bearing,valid) of a ray of a range scan. More...
class	Raymm
	represents the triple (reading,bearing,valid) of a ray of a range scan More...
class	Scan
	Represents a laser scan. More...
class	ScanMap
class	CharKeybSharList
	Todo. More...
class	FifoSharList
	Todo. More...
class	SharedListener
	Todo. More...
class	StringKeybSharList
class	UDPSharedListener
	Singleton class for connectionless communication. More...
class	CsmInterfaceOut
	Output of the scan matcher. More...
class	CsmInterfaceOutStats
class	CsmInterfaceErr
	Err of the scan matcher. More...
class	CsmInterfaceIn
	classe per la memorizzazione dell input dello scan-matcher More...
class	CsmInterface
	Interface to the canonical scan matcher. More...
class	Roto2DArma
	This class represents the generic rotation matrix in 2D. More...
class	Position2DArma
class	Velocity2DArma
	Represents velocity vector in R^2 using armadillo libraries. More...
class	Acceleration2DArma
	Represents acceleration vector in R^3 using armadillo libraries. More...
class	Roto2DHomoArma
class	Pose2DArma
class	Odometry2DArma
	Odometry in 2D, linear velocity along x, y and angular velocity along z. More...
class	Odometry2DTimeArma
class	Position2DTimeArma
class	PosiFeatures2DTimeArma
class	Observation2DTimeArma
class	Roto3DArma
class	Position3DArma
class	Roto3DHomoArma
class	Velocity3DArma
	Represents velocity vector in R^3 using armadillo libraries. More...
class	Acceleration3DArma
	Represents acceleration vector in R^3 using armadillo libraries. More...
class	Pose3DArma
class	IMU3DArma
class	Odometry3DArma
class	Odometry3DTimeArma
class	Position3DTimeArma
class	PosiFeatures3DTimeArma
class	Observation3DTimeArma
class	SsUtils
	this class provides a fast and reliable way to encrypt/decrypt some data types to/from stringstream objects. Supported types are double, couple of double (for drive and turnrate), Pose, Scan, PosiFeatures, Time More...
class	Thread
class	EnhancedMutEx
	Provides to another resource class, enanched MutEx capability. More...
class	SimTime
class	SimTimer
	timer class, a timer More...
class	Time
	time class, provide a representation of time in seconds and microseconds More...
class	Timer
	timer class, a timer More...
class	TimeUtilities
	some Time utilities gathered in a class More...
class	ConstSpeedParam
	Includes the parameters useful to describe a constant speed profile. More...
class	TriangularSpeedParam
	Includes the parameters useful to describe a triangular speed profile. More...
class	TrapezoidalSpeedParam
	Includes the parameters useful to describe a trapezoidal speed profile. More...
class	CubicSpeedParam
	Includes the parameters useful to describe a cubic speed profile. More...
class	TrapezoidalAccParam
	Includes the parameters useful to describe a trapezoidal acceleration profile. More...
class	TrapezoidalDecParam
	Includes the parameters useful to describe a trapezoidal deceleration profile. More...
class	TimeLaw
	Virtual class for time laws implementation. More...
class	Stillness
	Implements a constant speed profile. More...
class	ConstSpeed
	Implements a constant speed profile. More...
class	TriangularSpeed
	Implements a triangular speed profile. More...
class	TrapezoidalSpeed
	Implements a trapezoidal speed profile. More...
class	CubicSpeed
	Implements a cubic speed profile. More...
class	TrapezoidalAcc
	Implements a trapezoidal acceleration profile. More...
class	TrapezoidalDec
	Implements a trapezoidal deceleration profile. More...
class	AnalyticalTrajParam
	Includes the parameters useful to describe a trajectory. More...
class	SampledTrajParam
	Includes the parameters useful to describe a trajectory. More...
class	Trajectory
	Implements a sampled trajectory. More...
class	AnalyticalTrajectory
class	SampledTrajectory
	Implements a sampled trajectory. More...
struct	IMUOdometry
struct	VelOdometry
struct	filterState
class	DiffDriveEncoderReading
class	MotionModuleState
	State of an unycicle. More...
class	MotionModuleTState
	State of an unycicle with timestamp. More...
class	MotionModuleTStateLog
	A list of states of an unycicle with timestamps. More...
Typedefs
typedef vector< DubInt >	LSR
	Vector containing the indexes of the cells belonging to the LSR.
typedef vector< DubInt >	LSRBound
	Vector containing the indexes of the cells belonging to the boundary of the LSR.
typedef vector< DubInt >	LRR
	Vector containing the indexes of the cells belonging to the LRR.
typedef vector< DubInt >	LRRBound
	Vector containing the indexes of the cells belonging to the boundary of the LRR.
typedef Mat< Decimal >	DMat
typedef Col< Decimal >	DCol
typedef Row< Decimal >	DRow
typedef vector< Ray >	Rays
typedef vector< Raymm >	Raymms
Enumerations
enum	CanonicalMIPMatrix { IDENTITY_MATRIX, ZERO_MATRIX, NUM_CANONICAL_MATRIX }
enum	ROSiFaceOpeningModes { ROSIFACE_R, ROSIFACE_W, ROSIFACE_RW }
	Operating modes of the MipBaselib::ROSiFace. More...
enum	CanonicalArmaMatrix { IDENTITY_ARMA_MATRIX, ZERO_ARMA_MATRIX, NUM_CANONICAL_ARMA_MATRIX }
enum	CanonicalCameraArmaMatrix { PIXEL_CAMERA_ARMA_MATRIX, METRIC_CAMERA_ARMA_MATRIX, NUM_CAMERA_ARMA_MATRIX }
enum	OdomIntegrMethods { ODO_INT_METH_EXACT, ODO_INT_METH_RUNKUT2, ODO_INT_METH_DIRECT_INT, ODO_INT_METH_TRAPZ, ODO_INT_METH_NUM }
enum	TimestampLocation { TSPOS_IS_INSIDE, TSPOS_IS_BEFORE, TSPOS_IS_AFTER, TSPOS_NUM }
Functions
int	evalCoeff (Cell *cell)
bool	compareFscore (ExplorationNode first, ExplorationNode second)
static bool	_compareByFrame (Cell first, Cell second)
	Useful to sort vectors of Cell* by frame.
static bool	_compareByCone (Cell first, Cell second)
	Useful to sort vectors of Cell* by cone.
static bool	_compareByIndexI (Cell first, Cell second)
	Useful to sort vectors of Cell* by index i of their indexes.
static bool	_compareByIndexJ (Cell first, Cell second)
	Useful to sort vectors of Cell* by index j of their indexes.
static bool	_compareByFrame (PerceptionCell first, PerceptionCell second)
	Useful to sort vectors of PerceptionCell* by frame.
static bool	_compareByCone (PerceptionCell first, PerceptionCell second)
	Useful to sort vectors of PerceptionCell* by cone.
static bool	_compareByIndexI (PerceptionCell first, PerceptionCell second)
	Useful to sort vectors of PerceptionCell* by index i of their indexes.
static bool	_compareByIndexJ (PerceptionCell first, PerceptionCell second)
	Useful to sort vectors of PerceptionCell* by index j of their indexes.
static bool	_compareByBearing (Ray first, Ray second)
template<class T>
void *	sharedListenerThread (void *p)
Variables
const char *	odomIntegrMethodNames [ODO_INT_METH_NUM]
static const char *	CanonicalMIPMatrixName [NUM_CANONICAL_MATRIX]
static const char *	CanonicalArmaMatrixName [NUM_CANONICAL_ARMA_MATRIX]
static const char *	CanonicalCameraArmaMatrixName [NUM_CAMERA_ARMA_MATRIX]

MipBaselib Namespace Reference [Exploration Graph, Grid, Roulette, Sensors, Shared Listener Module, Internet protocol sockets, Csm interface, Strigstream Utilities, Thread, Time, Trajectory, Types]

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation

MipBaselib Namespace Reference
[Exploration Graph, Grid, Roulette, Sensors, Shared Listener Module, Internet protocol sockets, Csm interface, Strigstream Utilities, Thread, Time, Trajectory, Types]