Namespaces
	directions

Classes
struct	CartographyChangesQueue

struct	CartographyConfig

class	Csc3dCartographyProcessor

class	CscEntityPositionManager

class	CscLidar2DEngineSimulated

class	CscLidar3DEngineSimulated

class	CscLidarEngine

class	CscLidarEngineRplidar

class	CscPlaceCartography

class	CscPointCloud3d

class	CscPointCloudMatcher

class	CscRealEntity3dLidarValues

class	CscSlam3dMap

struct	CscSlam3dMapVoxelChanges

struct	CscSlam3dMapVoxelChangesListener

struct	CscSlam3dMapVoxelDiff

struct	CscSlam3dMapVoxelGrid

struct	CscSlam3dMapVoxelKey

struct	CscSlam3dMapVoxelKeyHash

struct	CscSlam3dProbabilisticVoxel

class	CscSlam3dProbabilisticVoxelGrid

class	CscSlamEngine

struct	FrameMetadata

struct	LidarExtrinsics

struct	LidarExtrinsicsSidecar

struct	LidarImuData

class	LidarValues

class	LidarValuesSnapshot

struct	LikelihoodMonitor

struct	OdoDelta

struct	OdometryData

struct	OdometryDeltaSidecar

struct	Pose2D

struct	VoxelHash

Typedefs
typedef pcl::PointXYZI	PointT

typedef pcl::PointCloud< PointT >	PointCloudT

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
static bool	isStaticOdometryDelta (const FrameMetadata &meta, float maxTranslationCm, float maxYawDeg)

template<typename T >
static T	clampValue (T v, T lo, T hi)

static Eigen::Matrix4f	makeYawOffsetTransform (float yawRad)

Eigen::Matrix4f	makeRobotFromLidarTransform (const LidarExtrinsicsSidecar &e)

Eigen::Matrix4f	makeRobotDeltaTransform (const OdometryDeltaSidecar &odo)

Eigen::Matrix4f	makeLidarDeltaFromMetadata (const FrameMetadata &meta)

static bool	readFile (const fs::path &path, std::string &out)

static double	extractDouble (const std::string &text, const std::string &key, double fallback=0.0)

static int	extractInt (const std::string &text, const std::string &key, int fallback=0)

static std::vector< OdoDelta >	loadOdometryJsons (const fs::path &folder)

static std::vector< Pose2D >	integrateOdometry (const std::vector< OdoDelta > &deltas, bool invertYaw, bool invertDelta)

static float	extractYawY (const Eigen::Matrix3f &R)

static Eigen::Matrix4f	projectToPlanarMotion (const Eigen::Matrix4f &T)

void	toSimulatorPoint (CscPoint3dOriented *point)

void	convertOdometryDeltaToRobotReferenceFrame (double &deltaPositionX, double &deltaPositionY, double &deltaPositionZ, double previousYaw)

CscQuaternion	extractNavigationQuaternionFromEntityQuaternion (const CscQuaternion &entityQuaternion)

double	extractNavigationYawFromEntityQuaternion (const CscQuaternion &entityQuaternion)

vector< CscPoint3d >	transformPointsLidarLocalToWorld (const vector< CscPoint3d > &pointCloud, const CscPoint3d &entityPosition, const CscQuaternion &entityRotationQuaternion)

CscPoint3d	transformPointLidarLocalToWorld (const CscPoint3d &localPoint, const CscPoint3d &entityPosition, const CscQuaternion &entityRotationQuaternion)

CscPoint3d	transformPointWorldToLidarLocal (const CscPoint3d &worldPoint, const CscPoint3d &entityPosition, const CscQuaternion &entityRotationQuaternion)

void *	updateLidarValuesThreadActionLoop (void *argument)

bool	checkRPLIDARHealth (RPlidarDriver *drv)

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

void	unpack_row_col_7_11_ptr (const uint8_t *&ptr, uint16_t &row, uint16_t &col)

uint16_t	read_u16_le_ptr (const uint8_t *&ptr)

OdometryData	composeLocalOdometryDelta (const OdometryData &a, const OdometryData &b)

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 &entityPose)

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)

static std::string	pose2dToString (const mrpt::poses::CPose2D &p)

pcl::PointCloud< pcl::PointXYZ >::Ptr	buildPclCloudFromCurrentFrameVoxelized (const std::vector< CscPoint3d > &cloudCm, float voxelSizeMeters, size_t maxPoints, const CscSlamEngine::Slam3dParams &slam3dParams)

pcl::PointCloud< pcl::PointXYZ >::Ptr	buildLocalPclCloudFromProbabilisticVoxels (const CscSlam3dMap &map, const CPose3D &centerPose, double radiusMeters, float voxelSizeMeters, size_t maxPoints)

	ENUM (CscSlam3dMapVoxelDiffType, SLAM3D_VOXEL_DIFF_TYPE_ADD, SLAM3D_VOXEL_DIFF_TYPE_REMOVE)

	ENUM (CscSlam3dMapVoxelChangesMode, SLAM3D_VOXEL_CHANGES_MODE_DIFFS, SLAM3D_VOXEL_CHANGES_MODE_FULL_REBUILD)

double	distancePoints (const TPoint2D &pointA, const TPoint2D &pointB)

double	distancePoints (const TPose2D &poseA, const TPose2D &poseB)

CscPoint2d	toMrptReferenceFrame (const CscPoint3d &point)

CscPoint3d	toMrptReferenceFrame3d (double x, double y, double z)

CscPoint3d	fromMrptReferenceFrame3d (double mx, double my, double mz)

Variables
static std::unique_ptr< CscLogger >	logger = CscLogger::getForCategory("CscLidarEngine")

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 const float	SLAM_3D_MAP_VOXEL_SIZE_METERS = 0.015

static const float	SLAM_3D_ICP_VOXEL_SIZE_METERS = 0.05f

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

◆ PointCloudT

typedef pcl::PointCloud<PointT> conscience_core::lidar::PointCloudT

◆ PointT

typedef pcl::PointXYZI conscience_core::lidar::PointT

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

◆ buildLocalPclCloudFromProbabilisticVoxels()

pcl::PointCloud<pcl::PointXYZ>::Ptr conscience_core::lidar::buildLocalPclCloudFromProbabilisticVoxels	(	const CscSlam3dMap &	map,
		const CPose3D &	centerPose,
		double	radiusMeters,
		float	voxelSizeMeters,
		size_t	maxPoints
	)

◆ buildPclCloudFromCurrentFrameVoxelized()

pcl::PointCloud<pcl::PointXYZ>::Ptr conscience_core::lidar::buildPclCloudFromCurrentFrameVoxelized	(	const std::vector< CscPoint3d > &	cloudCm,
		float	voxelSizeMeters,
		size_t	maxPoints,
		const CscSlamEngine::Slam3dParams &	slam3dParams
	)

◆ checkRPLIDARHealth()

bool conscience_core::lidar::checkRPLIDARHealth ( RPlidarDriver * drv )

◆ clampValue()

template<typename T >

static T conscience_core::lidar::clampValue	(	T	v,
		T	lo,
		T	hi
	)

static

◆ composeLocalOdometryDelta()

OdometryData conscience_core::lidar::composeLocalOdometryDelta	(	const OdometryData &	a,
		const OdometryData &	b
	)

◆ convertOdometryDeltaToRobotReferenceFrame()

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

inline

parameters in Conscience ref frame

Parameters

previousYaw standard Conscience yaw -> positive to the right if looking from above

◆ 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

◆ ENUM() [1/2]

conscience_core::lidar::ENUM	(	CscSlam3dMapVoxelChangesMode	,
		SLAM3D_VOXEL_CHANGES_MODE_DIFFS	,
		SLAM3D_VOXEL_CHANGES_MODE_FULL_REBUILD
	)

◆ ENUM() [2/2]

conscience_core::lidar::ENUM	(	CscSlam3dMapVoxelDiffType	,
		SLAM3D_VOXEL_DIFF_TYPE_ADD	,
		SLAM3D_VOXEL_DIFF_TYPE_REMOVE
	)

◆ extractDouble()

static double conscience_core::lidar::extractDouble	(	const std::string &	text,
		const std::string &	key,
		double	fallback = `0.0`
	)

static

◆ extractInt()

static int conscience_core::lidar::extractInt	(	const std::string &	text,
		const std::string &	key,
		int	fallback = `0`
	)

static

◆ extractNavigationQuaternionFromEntityQuaternion()

CscQuaternion conscience_core::lidar::extractNavigationQuaternionFromEntityQuaternion ( const CscQuaternion & entityQuaternion )

inline

use this to retrieve transformation quaternion from entity current quaternion, it extracts actual entity rotation when "still" and looking forward (removing base rotation which is not relevant when rotating sensor with no rotation on the robot -> base rotation is not part of the actual rotation in sensors rotations)

Parameters

entityQuaternion entity current rotation quaternion, as returned by CscEnvironmentSimulator::getEntityPositionAndRotationQuaternion(entitySN)

Returns: rotation quaternion of entity without base rotation (pi/2 on X axis)

See also: CscEnvironmentSimulator::getEntityPositionAndRotationQuaternion(string)

◆ extractNavigationYawFromEntityQuaternion()

double conscience_core::lidar::extractNavigationYawFromEntityQuaternion ( const CscQuaternion & entityQuaternion )

inline

use this instead of buggy CscPoint3dOriented::toStandardEulerY(), it extracts actual entity rotation when "still" and looking forward

Parameters

entityQuaternion entity current rotation quaternion, as returned by CscEnvironmentSimulator::getEntityPositionAndRotationQuaternion(entitySN)

Returns: yaw euler (hence on axis Y) from entity quaternion - following Conscience standard

Warning: yaw following Conscience standard -> from above -> yaw positive = robot turning to the right

See also: CscEnvironmentSimulator::getEntityPositionAndRotationQuaternion(string)

◆ extractYawY()

static float conscience_core::lidar::extractYawY ( const Eigen::Matrix3f & R )

static

◆ fromMrptReferenceFrame3d()

CscPoint3d conscience_core::lidar::fromMrptReferenceFrame3d	(	double	mx,
		double	my,
		double	mz
	)

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
	)

◆ integrateOdometry()

static std::vector<Pose2D> conscience_core::lidar::integrateOdometry	(	const std::vector< OdoDelta > &	deltas,
		bool	invertYaw,
		bool	invertDelta
	)

static

◆ isStaticOdometryDelta()

static bool conscience_core::lidar::isStaticOdometryDelta	(	const FrameMetadata &	meta,
		float	maxTranslationCm,
		float	maxYawDeg
	)

static

◆ lidarValuesToMrptObservation()

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

◆ loadOdometryJsons()

static std::vector<OdoDelta> conscience_core::lidar::loadOdometryJsons ( const fs::path & folder )

static

◆ makeLidarDeltaFromMetadata()

Eigen::Matrix4f conscience_core::lidar::makeLidarDeltaFromMetadata ( const FrameMetadata & meta )

◆ makeRobotDeltaTransform()

Eigen::Matrix4f conscience_core::lidar::makeRobotDeltaTransform ( const OdometryDeltaSidecar & odo )

◆ makeRobotFromLidarTransform()

Eigen::Matrix4f conscience_core::lidar::makeRobotFromLidarTransform ( const LidarExtrinsicsSidecar & e )

◆ makeYawOffsetTransform()

static Eigen::Matrix4f conscience_core::lidar::makeYawOffsetTransform ( float yawRad )

static

◆ 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

◆ pose2dToString()

static std::string conscience_core::lidar::pose2dToString ( const mrpt::poses::CPose2D & p )

static

◆ projectToPlanarMotion()

static Eigen::Matrix4f conscience_core::lidar::projectToPlanarMotion ( const Eigen::Matrix4f & T )

static

◆ read_u16_le_ptr()

uint16_t conscience_core::lidar::read_u16_le_ptr ( const uint8_t *& ptr )

inline

◆ readFile()

static bool conscience_core::lidar::readFile	(	const fs::path &	path,
		std::string &	out
	)

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 &	entityPose
	)

◆ toMrptReferenceFrame()

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

inline

◆ toMrptReferenceFrame3d()

CscPoint3d conscience_core::lidar::toMrptReferenceFrame3d	(	double	x,
		double	y,
		double	z
	)

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

◆ transformPointLidarLocalToWorld()

CscPoint3d conscience_core::lidar::transformPointLidarLocalToWorld	(	const CscPoint3d &	localPoint,
		const CscPoint3d &	entityPosition,
		const CscQuaternion &	entityRotationQuaternion
	)

inline

◆ transformPointsLidarLocalToWorld()

vector<CscPoint3d> conscience_core::lidar::transformPointsLidarLocalToWorld	(	const vector< CscPoint3d > &	pointCloud,
		const CscPoint3d &	entityPosition,
		const CscQuaternion &	entityRotationQuaternion
	)

inline

◆ transformPointWorldToLidarLocal()

CscPoint3d conscience_core::lidar::transformPointWorldToLidarLocal	(	const CscPoint3d &	worldPoint,
		const CscPoint3d &	entityPosition,
		const CscQuaternion &	entityRotationQuaternion
	)

inline

◆ unpack_row_col_7_11_ptr()

void conscience_core::lidar::unpack_row_col_7_11_ptr	(	const uint8_t *&	ptr,
		uint16_t &	row,
		uint16_t &	col
	)

inline

◆ 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

◆ logger

std::unique_ptr<CscLogger> conscience_core::lidar::logger = CscLogger::getForCategory("CscLidarEngine")

static

◆ 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"

◆ SLAM_3D_ICP_VOXEL_SIZE_METERS

const float conscience_core::lidar::SLAM_3D_ICP_VOXEL_SIZE_METERS = 0.05f

static

◆ SLAM_3D_MAP_VOXEL_SIZE_METERS

const float conscience_core::lidar::SLAM_3D_MAP_VOXEL_SIZE_METERS = 0.015

static

Conscience Core

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ CscLidarMode

◆ DP

◆ Matrix

◆ PM

◆ PMIO

◆ PointCloudT

◆ PointT

Enumeration Type Documentation

◆ CscEntityPositionSource

◆ CscLidarModeList

◆ CscSlamCellOccupancyStatus

Function Documentation

◆ buildLocalPclCloudFromProbabilisticVoxels()

◆ buildPclCloudFromCurrentFrameVoxelized()

◆ checkRPLIDARHealth()

◆ clampValue()

◆ composeLocalOdometryDelta()

◆ convertOdometryDeltaToRobotReferenceFrame()

◆ createOdometryActionFromDiff()

◆ cscPointsToPMDataPoints()

◆ distancePoints() [1/2]

◆ distancePoints() [2/2]

◆ ENUM() [1/2]

◆ ENUM() [2/2]

◆ extractDouble()

◆ extractInt()

◆ extractNavigationQuaternionFromEntityQuaternion()

◆ extractNavigationYawFromEntityQuaternion()

◆ extractYawY()

◆ fromMrptReferenceFrame3d()

◆ hasNearbySupportedStructureDT()

◆ injectRandomPosesPartial()

◆ integrateOdometry()

◆ isStaticOdometryDelta()

◆ lidarValuesToMrptObservation()

◆ loadOdometryJsons()

◆ makeLidarDeltaFromMetadata()

◆ makeRobotDeltaTransform()

◆ makeRobotFromLidarTransform()

◆ makeYawOffsetTransform()

◆ mrptPointToCscPoint()

◆ mrptPointToJson()

◆ mrptPoseToCscPointOriented()

◆ mrptPoseToJson()

◆ PFAlgorithmToString()

◆ pose2dToString()

◆ projectToPlanarMotion()

◆ read_u16_le_ptr()

◆ readFile()

◆ resetSampling()

◆ scanMapConsistency_LL_per_ray()

◆ toMrptReferenceFrame()

◆ toMrptReferenceFrame3d()

◆ toSimulatorPoint()

◆ transformPointLidarLocalToWorld()

◆ transformPointsLidarLocalToWorld()

◆ transformPointWorldToLidarLocal()

◆ unpack_row_col_7_11_ptr()

◆ updateLidarValuesThreadActionLoop()

Variable Documentation

◆ CARTOGRAPHY_STORAGE_CARTO_PREFIX

◆ CARTOGRAPHY_STORAGE_DIRECTORY

◆ cartographyPointsFilename

◆ lkmon

◆ localizationOccupancyThreshold

◆ logger

◆ mrptGridResolution

◆ mrptGridSideMeters

◆ perturbationCounter

◆ PF_algorithm

◆ PLACE_TAG_FROM_CARTOGRAPHY

◆ SLAM_3D_ICP_VOXEL_SIZE_METERS

◆ SLAM_3D_MAP_VOXEL_SIZE_METERS