rmap.h File Reference

The rmap library performs relaxation over a set of roughly aligned laser scans to find the optimal map. More...

#include "slap.h"

Go to the source code of this file.

Classes
struct	rmap_scan_t
	Data for a single scan. More...
struct	rmap_item
	Data for grid cell items; each cell is a linked list of boundary points. More...
struct	rmap_cell_t
	Data for a grid cell. More...
struct	rmap_constraint_t
	Data for a constraint. More...
struct	rmap_t
	rmap object data More...
Defines
#define	RMAP_MAX_RANGES   401
	Limits.
Typedefs
typedef rmap_item	rmap_item_t
	Data for grid cell items; each cell is a linked list of boundary points.
Functions
rmap_t *	rmap_alloc (int num_ranges, double range_max, double range_start, double range_step, double grid_width, double grid_height)
	Allocate object.
void	rmap_free (rmap_t *self)
	Free object.
void	rmap_add (rmap_t *self, double dtime, pose2_t pose, int num_ranges, double *ranges)
	Add a scan to the map.
void	rmap_match (rmap_t *self)
	Match points across scans.
void	rmap_match_prepare (rmap_t *self, rmap_scan_t *scan)
	Project bounds into the grid.
void	rmap_match_scan (rmap_t *self, rmap_scan_t *scan_a)
	Match points for a single scan.
void	rmap_relax (rmap_t *self, int num_cycles)
	Relax key-scans.
void	rmap_interpolate (rmap_t *self)
	Interpolate between key-scans.
void	rmap_draw_map (rmap_t *self)
	Draw the current map.
void	rmap_draw_cons (rmap_t *self)
	Draw constraints.

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Detailed Description

The rmap library performs relaxation over a set of roughly aligned laser scans to find the optimal map.

Caveats

This library has not yet been optimized, so it please be patient when using it.

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Function Documentation

void rmap_match_prepare (  rmap_t *  self, rmap_scan_t *  scan )

Project bounds into the grid. For internal use only.

void rmap_match_scan (  rmap_t *  self, rmap_scan_t *  scan_a )

Match points for a single scan. For internal use only.

void rmap_relax (  rmap_t *  self, int  num_cycles )

Relax key-scans. Parameters: num_cycles  Number of optimization cycles.

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