#include <CscSlamEngine.h>

Classes
struct	MapToImageParams

struct	PhantomCluster

struct	PhantomClusterTracked

Public Member Functions
	CscSlamEngine (const string &entitySerialNumber, bool isSimulatedEntity, CscEntityPositionManager positionManager, CscLidarEngine lidarEngine)

	~CscSlamEngine ()

void	stop ()

void	start (CscPoint3dOriented *initialPosition=nullptr)

const CscPoint3d &	getRobotStartPosition () const

const CscQuaternion &	getRobotStartOrientation () const

CscPoint3dOriented *	getRobotPose3d () const

fs::path	saveCartography ()

bool	loadCartography (const fs::path &cartographyDir)

bool	loadLatestCartography ()

bool	hasLoadedCartography ()

bool	isStarted () const

bool	isStartedAndReady () const

void	consumeLidarValues ()

void	forceLocalisationPosition (double xInMeters, double zInMeters, double headingInRad)

void	saveMrptMapToPng (const string &filename, const MapToImageParams &params)

CscPoint3d *	transformToWorld3dPosition (const TPoint2D &pointSlam2d) const

vector< CscPoint3d * >	getMapAsWorldPoints (double threshold=defaultCellOccupiedThreshold) const

constexpr CscSlamCellOccupancyStatus	getCellStatus (float cellValue, double occupiedThreshold=defaultCellOccupiedThreshold)

CscSlamCellOccupancyStatus	getCellStatus (const COccupancyGridMap2D *map, int i, int j, double occupiedThreshold=defaultCellOccupiedThreshold)

void	clearCartography ()

mrpt::math::TPose2D	getRobotPose () const

ptr< CObservation2DRangeScan >	getLidarScan () const

ptr< COccupancyGridMap2D >	getSLAMMap () const

Static Public Attributes
static constexpr double	defaultCellOccupiedThreshold = 0.14

Constructor & Destructor Documentation

◆ CscSlamEngine()

conscience_core::lidar::CscSlamEngine::CscSlamEngine	(	const string &	entitySerialNumber,
		bool	isSimulatedEntity,
		CscEntityPositionManager *	positionManager,
		CscLidarEngine *	lidarEngine
	)

◆ ~CscSlamEngine()

conscience_core::lidar::CscSlamEngine::~CscSlamEngine ( )

Member Function Documentation

◆ clearCartography()

void conscience_core::lidar::CscSlamEngine::clearCartography ( )

◆ consumeLidarValues()

void conscience_core::lidar::CscSlamEngine::consumeLidarValues ( )

◆ forceLocalisationPosition()

void conscience_core::lidar::CscSlamEngine::forceLocalisationPosition	(	double	xInMeters,
		double	zInMeters,
		double	headingInRad
	)

◆ getCellStatus() [1/2]

CscSlamCellOccupancyStatus conscience_core::lidar::CscSlamEngine::getCellStatus	(	const COccupancyGridMap2D *	map,
		int	i,
		int	j,
		double	occupiedThreshold = `defaultCellOccupiedThreshold`
	)

inline

use this method to check if cell is occuped

Parameters

i	cell's coordinate horizontally (x axis) -> from left to right
j	cell's coordinate vertically (y axis) -> from top to bottom
occupiedThreshold	defaults to defaultCellOccupiedThreshold, max cell value for occupancy
map	optional map on which get cell value, defaults to current slam map

Returns: cell's status

◆ getCellStatus() [2/2]

constexpr CscSlamCellOccupancyStatus conscience_core::lidar::CscSlamEngine::getCellStatus	(	float	cellValue,
		double	occupiedThreshold = `defaultCellOccupiedThreshold`
	)

inlineconstexpr

◆ getLidarScan()

ptr< CObservation2DRangeScan > conscience_core::lidar::CscSlamEngine::getLidarScan ( ) const

returns internal mrpt last lidar scan - DO NOT USE except for string optimization purpose

◆ getMapAsWorldPoints()

vector< CscPoint3d * > conscience_core::lidar::CscSlamEngine::getMapAsWorldPoints ( double threshold = defaultCellOccupiedThreshold ) const

◆ getRobotPose()

TPose2D conscience_core::lidar::CscSlamEngine::getRobotPose ( ) const

returns internal mrpt pose - DO NOT USE except for string optimization purpose

See also: CscSlamEngine::getRobotPose3d()

◆ getRobotPose3d()

CscPoint3dOriented * conscience_core::lidar::CscSlamEngine::getRobotPose3d ( ) const

Returns: entity pose in 3D, WARNING : only yaw (Y axis) is filled in rotation fields

◆ getRobotStartOrientation()

const CscQuaternion & conscience_core::lidar::CscSlamEngine::getRobotStartOrientation ( ) const

◆ getRobotStartPosition()

const CscPoint3d & conscience_core::lidar::CscSlamEngine::getRobotStartPosition ( ) const

◆ getSLAMMap()

ptr< COccupancyGridMap2D > conscience_core::lidar::CscSlamEngine::getSLAMMap ( ) const

returns internal mrpt map - DO NOT USE except for string optimization purpose

See also: CscSlamEngine::getMapAsWorldPoints()

◆ hasLoadedCartography()

bool conscience_core::lidar::CscSlamEngine::hasLoadedCartography ( )

◆ isStarted()

bool conscience_core::lidar::CscSlamEngine::isStarted ( ) const

◆ isStartedAndReady()

bool conscience_core::lidar::CscSlamEngine::isStartedAndReady ( ) const

◆ loadCartography()

bool conscience_core::lidar::CscSlamEngine::loadCartography ( const fs::path & cartographyDir )

◆ loadLatestCartography()

bool conscience_core::lidar::CscSlamEngine::loadLatestCartography ( )

◆ saveCartography()

fs::path conscience_core::lidar::CscSlamEngine::saveCartography ( )

saves SLAM cartography in a dedicated and optimized format to a new subdirectory of CARTOGRAPHY_STORAGE_DIRECTORY

Returns: the path to the directory containing the cartography

◆ saveMrptMapToPng()

void conscience_core::lidar::CscSlamEngine::saveMrptMapToPng	(	const string &	filename,
		const MapToImageParams &	params
	)

◆ start()

void conscience_core::lidar::CscSlamEngine::start ( CscPoint3dOriented * initialPosition = nullptr )

◆ stop()

void conscience_core::lidar::CscSlamEngine::stop ( )

◆ transformToWorld3dPosition()

CscPoint3d * conscience_core::lidar::CscSlamEngine::transformToWorld3dPosition ( const TPoint2D & pointSlam2d ) const

Member Data Documentation

◆ defaultCellOccupiedThreshold

constexpr double conscience_core::lidar::CscSlamEngine::defaultCellOccupiedThreshold = 0.14

staticconstexpr

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

Lidar/CscSlamEngine.h
Lidar/CscSlamEngine.cpp

Conscience Core

Classes

Public Member Functions

Static Public Attributes