scan_match_scoring.hpp File

Scan-to-map fit scoring for ScanMatchResidual: how many laser beam endpoints land near a wall. More...

Included Headers

#include <Eigen/Geometry> #include <cstdint> #include <string> #include <vector> #include <tl/expected.hpp>

Namespaces Index

namespace	moveit_pro
namespace	behaviors
namespace	localization
namespace	internal

Classes Index

struct	DistanceField
	For each grid cell, the distance in metres to the nearest wall cell, capped at max_distance. More...
struct	ResidualStats
	Result of scoreEndpoints. More...
struct	ScanMatchInputs
	The numeric inputs of ScanMatchResidual, checked by validateScanMatchInputs. More...

Description

Scan-to-map fit scoring for ScanMatchResidual: how many laser beam endpoints land near a wall.

Pure functions with no ROS or BehaviorTree dependency. The grid frame has its origin at the corner of cell (row 0, column 0), with +x along columns and +y along rows, as in nav_msgs/OccupancyGrid.

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