internal Namespace

Definition

namespace moveit_pro::behaviors::localization::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...

Functions Index

DistanceField	buildDistanceField (int width, int height, double resolution, const std::vector< std::int8_t > &occupancy, double max_distance)
	Builds a DistanceField from OccupancyGrid data. More...
std::vector< Eigen::Vector2d >	polarToCartesian (const std::vector< float > &ranges, double angle_min, double angle_increment, double min_range, double max_range, const Eigen::Isometry3d &target_from_scan)
	Converts a planar laser scan from polar (range, bearing) to 2D Cartesian points in a target frame. More...
ResidualStats	scoreEndpoints (const DistanceField &field, const std::vector< Eigen::Vector2d > &endpoints, double inlier_distance)
	Scores how well beam endpoints fit the map. More...
tl::expected< void, std::string >	validateScanMatchInputs (const ScanMatchInputs &inputs)

Variables Index

constexpr std::int8_t	kOccupiedThreshold = 65
	Occupancy value (0-100) at or above which a cell is a wall. Matches nav2's default occupied threshold. More...
constexpr double	kMaxWallDistance = 2.0
	Distance cap of the field, in metres. It only has to exceed any useful inlier distance. More...

Functions

buildDistanceField()

DistanceField moveit_pro::behaviors::localization::internal::buildDistanceField (int width, int height, double resolution, const std::vector< std::int8_t > & occupancy, double max_distance)

Builds a DistanceField from OccupancyGrid data.

Parameters

width	Columns.
height	Rows.
resolution	Cell size, in metres.
occupancy	Row-major cell values: 0-100 occupancy, or -1 for unknown. Unknown cells count as free.
max_distance	Cap on every distance, in metres.

Returns

An invalid field if a dimension is not positive or occupancy has the wrong size.

Definition at line 35 of file scan_match_scoring.cpp.

polarToCartesian()

std::vector< Eigen::Vector2d > moveit_pro::behaviors::localization::internal::polarToCartesian (const std::vector< float > & ranges, double angle_min, double angle_increment, double min_range, double max_range, const Eigen::Isometry3d & target_from_scan)

Converts a planar laser scan from polar (range, bearing) to 2D Cartesian points in a target frame.

Beam i has bearing angle_min + i * angle_increment in the scan frame's XY plane. Each beam endpoint is transformed by target_from_scan and its z is dropped. Beams with a range outside [min_range, max_range], NaN, or infinite are skipped, so the result can be shorter than ranges.

Parameters

ranges	Beam ranges, in metres, as in sensor_msgs/LaserScan.
angle_min	Bearing of the first beam, in radians.
angle_increment	Bearing step between beams, in radians.
min_range	Shortest range kept, in metres.
max_range	Longest range kept, in metres.
target_from_scan	Pose of the scan frame in the target frame. A full 3D transform, so tilted or inverted mounts are handled.

Returns

Endpoints of the kept beams, in the target frame, in metres.

Definition at line 77 of file scan_match_scoring.cpp.

scoreEndpoints()

ResidualStats moveit_pro::behaviors::localization::internal::scoreEndpoints (const DistanceField & field, const std::vector< Eigen::Vector2d > & endpoints, double inlier_distance)

Scores how well beam endpoints fit the map.

Parameters

field	Distance field of the map.
endpoints	Beam endpoints in the grid frame, in metres, e.g. from polarToCartesian.
inlier_distance	An endpoint fits if it is closer than this to a wall, in metres.

Returns

All zeros if field is invalid or endpoints is empty.

Definition at line 99 of file scan_match_scoring.cpp.

validateScanMatchInputs()

tl::expected< void, std::string > moveit_pro::behaviors::localization::internal::validateScanMatchInputs (const ScanMatchInputs & inputs)

Returns

Nothing if every input is valid, else an error naming the first invalid one.

Definition at line 115 of file scan_match_scoring.cpp.

Variables

kMaxWallDistance

constexpr double moveit_pro::behaviors::localization::internal::kMaxWallDistance = 2.0

constexpr

Distance cap of the field, in metres. It only has to exceed any useful inlier distance.

Definition at line 29 of file scan_match_scoring.hpp.

kOccupiedThreshold

constexpr std::int8_t moveit_pro::behaviors::localization::internal::kOccupiedThreshold = 65

constexpr

Occupancy value (0-100) at or above which a cell is a wall. Matches nav2's default occupied threshold.

Definition at line 26 of file scan_match_scoring.hpp.

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

• scan_match_scoring.hpp
• scan_match_scoring.cpp

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