conscience_core::lidar Namespace Reference

Namespaces
	directions

Classes
class	CscEntityPositionManager
class	CscLidar2DEngineSimulated
class	CscLidarEngine
class	CscLidarEngineRplidar
class	CscPlaceCartography
class	CscPointCloudMatcher
class	CscSlamEngine
struct	LidarValues
struct	LikelihoodMonitor
struct	OdometryData

Typedefs
typedef uint64_t	CscLidarMode
typedef PointMatcher< float >	PM
typedef PM::DataPoints	DP
typedef PointMatcherIO< float >	PMIO
typedef Eigen::MatrixXf	Matrix

Enumerations
enum	CscEntityPositionSource { Entity = 0, LidarLocalization = 1, Simulator = 2, CoreInstruction = 3 }
enum	CscLidarModeList : CscLidarMode { cscLidarModePaused = 1ULL << 0, cscLocalisation = 1ULL << 2, cscSlam = 1ULL << 4 }
enum	CscSlamCellOccupancyStatus : uint8_t { CscSlamCellOccupancyStatus::SlamCellOccupancyStatus_Unknown, CscSlamCellOccupancyStatus::SlamCellOccupancyStatus_Free, CscSlamCellOccupancyStatus::SlamCellOccupancyStatus_Occupied }

Functions
void	toSimulatorPoint (CscPoint3dOriented *point)
void	convertOdometryDeltaToRobotReferenceFrame (double &deltaPositionX, double &deltaPositionY, double &deltaPositionZ, double deltaYaw, double previousYaw)
void *	updateLidarValuesThreadActionLoop (void *argument)
bool	checkRPLIDARHealth (RPlidarDriver *drv)
DP	cscPointsToPMDataPoints (const vector< const CscPoint3d * > &points, bool XZTo2DOnly)
ptr< CObservation2DRangeScan >	lidarValuesToMrptObservation (const std::map< double, double > &scanDegreesCentimeters, double maxDistanceMeters=8.0)
CActionCollection::Ptr	createOdometryActionFromDiff (const CPose2D &incr, bool isSimulatedEntity)
static std::string	PFAlgorithmToString (CParticleFilter::TParticleFilterAlgorithm algo)
void	resetSampling (size_t particlesCount, const ptr< COccupancyGridMap2D > &slamMap, CMonteCarloLocalization2D *slamLocalization, CscLogger *logger)
void	injectRandomPosesPartial (mrpt::slam::CMonteCarloLocalization2D &pf, mrpt::maps::COccupancyGridMap2D &grid, const mrpt::bayes::CParticleFilter::TParticleFilterOptions &pfOpts, double percent)
double	scanMapConsistency_LL_per_ray (const std::shared_ptr< mrpt::maps::COccupancyGridMap2D > &grid, const std::shared_ptr< mrpt::obs::CObservation2DRangeScan > &scan, const mrpt::poses::CPose2D &robotPose)
bool	hasNearbySupportedStructureDT (const std::vector< std::pair< int, int >> &clusterCells, const std::vector< uint8_t > &support, int W, int H, int maxShiftCells)
string	mrptPoseToJson (const TPose2D &pose)
string	mrptPointToJson (const TPoint2D &point)
CscPoint2dOriented	mrptPoseToCscPointOriented (const TPose2D &pose)
CscPoint2d	mrptPointToCscPoint (const TPoint2D &point)
double	distancePoints (const TPoint2D &pointA, const TPoint2D &pointB)
double	distancePoints (const TPose2D &poseA, const TPose2D &poseB)
CscPoint2d	toMrptReferenceFrame (const CscPoint3d &point)

Variables
static const string	cartographyPointsFilename = "allPoints.csv"
const string	PLACE_TAG_FROM_CARTOGRAPHY = "FromCartography"
constexpr double	mrptGridSideMeters = 16
constexpr double	mrptGridResolution = 0.04
const string	CARTOGRAPHY_STORAGE_CARTO_PREFIX = "carto__"
const string	CARTOGRAPHY_STORAGE_DIRECTORY = string(CSC_DEFAULT_OUT_DIR) + "/CscSLAMCartographies"
static CParticleFilter::TParticleFilterAlgorithm	PF_algorithm = CParticleFilter::pfAuxiliaryPFOptimal
const double	localizationOccupancyThreshold = 0.25
static LikelihoodMonitor	lkmon
long long	perturbationCounter = -1

Typedef Documentation

CscLidarMode

typedef uint64_t conscience_core::lidar::CscLidarMode

DP

typedef PM::DataPoints conscience_core::lidar::DP

Matrix

typedef Eigen::MatrixXf conscience_core::lidar::Matrix

PM

typedef PointMatcher<float> conscience_core::lidar::PM

PMIO

typedef PointMatcherIO<float> conscience_core::lidar::PMIO

Enumeration Type Documentation

CscEntityPositionSource

enum conscience_core::lidar::CscEntityPositionSource

Enumerator
Entity	position was sent by entity and its localisation system
LidarLocalization	position was evaluated by lidar localisation
Simulator	position is coming from core's environment simulator
CoreInstruction	a process requested this position to be applied

CscLidarModeList

enum conscience_core::lidar::CscLidarModeList : CscLidarMode

Enumerator
cscLidarModePaused
cscLocalisation
cscSlam	new lidar mode which allows concurrent cartography and localisation

CscSlamCellOccupancyStatus

enum conscience_core::lidar::CscSlamCellOccupancyStatus : uint8_t

strong

Enumerator
SlamCellOccupancyStatus_Unknown
SlamCellOccupancyStatus_Free
SlamCellOccupancyStatus_Occupied

Function Documentation

checkRPLIDARHealth()

bool conscience_core::lidar::checkRPLIDARHealth

(

RPlidarDriver *

drv

)

convertOdometryDeltaToRobotReferenceFrame()

void conscience_core::lidar::convertOdometryDeltaToRobotReferenceFrame ( double &  deltaPositionX, double &  deltaPositionY, double &  deltaPositionZ, double  deltaYaw, double  previousYaw  )

inline

createOdometryActionFromDiff()

CActionCollection::Ptr conscience_core::lidar::createOdometryActionFromDiff	(	const CPose2D &	incr,
		bool	isSimulatedEntity
	)

cscPointsToPMDataPoints()

DP conscience_core::lidar::cscPointsToPMDataPoints	(	const vector< const CscPoint3d * > &	points,
		bool	XZTo2DOnly
	)

distancePoints() [1/2]

double conscience_core::lidar::distancePoints ( const TPoint2D &  pointA, const TPoint2D &  pointB  )

inline

distancePoints() [2/2]

double conscience_core::lidar::distancePoints ( const TPose2D &  poseA, const TPose2D &  poseB  )

inline

hasNearbySupportedStructureDT()

bool conscience_core::lidar::hasNearbySupportedStructureDT	(	const std::vector< std::pair< int, int >> &	clusterCells,
		const std::vector< uint8_t > &	support,
		int	W,
		int	H,
		int	maxShiftCells
	)

injectRandomPosesPartial()

void conscience_core::lidar::injectRandomPosesPartial	(	mrpt::slam::CMonteCarloLocalization2D &	pf,
		mrpt::maps::COccupancyGridMap2D &	grid,
		const mrpt::bayes::CParticleFilter::TParticleFilterOptions &	pfOpts,
		double	percent
	)

lidarValuesToMrptObservation()

ptr<CObservation2DRangeScan> conscience_core::lidar::lidarValuesToMrptObservation	(	const std::map< double, double > &	scanDegreesCentimeters,
		double	maxDistanceMeters = 8.0
	)

mrptPointToCscPoint()

CscPoint2d conscience_core::lidar::mrptPointToCscPoint

(

const TPoint2D &

point

)

mrptPointToJson()

string conscience_core::lidar::mrptPointToJson

(

const TPoint2D &

point

)

mrptPoseToCscPointOriented()

CscPoint2dOriented conscience_core::lidar::mrptPoseToCscPointOriented

(

const TPose2D &

pose

)

mrptPoseToJson()

string conscience_core::lidar::mrptPoseToJson

(

const TPose2D &

pose

)

PFAlgorithmToString()

static std::string conscience_core::lidar::PFAlgorithmToString ( CParticleFilter::TParticleFilterAlgorithm  algo )

static

resetSampling()

void conscience_core::lidar::resetSampling	(	size_t	particlesCount,
		const ptr< COccupancyGridMap2D > &	slamMap,
		CMonteCarloLocalization2D *	slamLocalization,
		CscLogger *	logger
	)

scanMapConsistency_LL_per_ray()

double conscience_core::lidar::scanMapConsistency_LL_per_ray	(	const std::shared_ptr< mrpt::maps::COccupancyGridMap2D > &	grid,
		const std::shared_ptr< mrpt::obs::CObservation2DRangeScan > &	scan,
		const mrpt::poses::CPose2D &	robotPose
	)

toMrptReferenceFrame()

CscPoint2d conscience_core::lidar::toMrptReferenceFrame ( const CscPoint3d &  point )

inline

toSimulatorPoint()

void conscience_core::lidar::toSimulatorPoint

(

CscPoint3dOriented *

point

)

This method is used to convert the euler with a standard euler format to the one used in the simulator

updateLidarValuesThreadActionLoop()

void* conscience_core::lidar::updateLidarValuesThreadActionLoop

(

void *

argument

)

Variable Documentation

CARTOGRAPHY_STORAGE_CARTO_PREFIX

const string conscience_core::lidar::CARTOGRAPHY_STORAGE_CARTO_PREFIX = "carto__"

CARTOGRAPHY_STORAGE_DIRECTORY

const string conscience_core::lidar::CARTOGRAPHY_STORAGE_DIRECTORY = string(CSC_DEFAULT_OUT_DIR) + "/CscSLAMCartographies"

cartographyPointsFilename

const string conscience_core::lidar::cartographyPointsFilename = "allPoints.csv"

static

lkmon

LikelihoodMonitor conscience_core::lidar::lkmon

static

localizationOccupancyThreshold

const double conscience_core::lidar::localizationOccupancyThreshold = 0.25

mrptGridResolution

constexpr double conscience_core::lidar::mrptGridResolution = 0.04

constexpr

mrptGridSideMeters

constexpr double conscience_core::lidar::mrptGridSideMeters = 16

constexpr

perturbationCounter

long long conscience_core::lidar::perturbationCounter = -1

PF_algorithm

CParticleFilter::TParticleFilterAlgorithm conscience_core::lidar::PF_algorithm = CParticleFilter::pfAuxiliaryPFOptimal

static

PLACE_TAG_FROM_CARTOGRAPHY

const string conscience_core::lidar::PLACE_TAG_FROM_CARTOGRAPHY = "FromCartography"