* Sets the minimum number of beams that must pass through a cell before it * will be considered to be occupied or unoccupied. * This prevents st

* Sets the minimum ratio of beams hitting cell to beams passing through * cell for cell to be marked as occupied. */

* Sets score for vertex * @return adjacent edges */

* Sets the width * @param width */

* Smear cell if the cell at the given point is marked as "occupied" * @param rGridPoint */

* Converts this quaternion into Euler angles * Source: http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToEuler/index.h

* Increments all the grid cells from (x0, y0) to (x1, y1); * if applicable, apply f to each cell traced * @param x0 * @param y0 * @param x

* Returns transposed version of this matrix * @return transposed matrix */

* Traverse the graph starting with the given vertex; applies the visitor to visited nodes * @param pStartVertex * @param pVisitor * @return v

* Updates a single cell's value based on the given counters * @param pCell * @param cellPassCnt * @param cellHitCnt */

/

/

/

Frees all allocated memory chunks */

/

/

* Find the "num_closest" nearest neighbors to the \a query_point[0:dim-1]. * Their indices are stored inside the result object. \sa radiusSearch,

* Returns a pointer to a piece of new memory of the given size in bytes * allocated from the pool. */

/

/

* Find all the neighbors to \a query_point[0:dim-1] within a maximum radius. * The output is given as a vector of pairs, of which the first elemen

Convert a laser scan to a vector of readings

Correlation Parameters - Correlation Parameters

Scan Matcher Parameters

Correlation Parameters - Loop Closure Parameters

Setters for parameters */ General Parameters

/

* Add vector to bounding box */

* Add a CustomData object to sensor data * @param pCustomData */

* Adds the given edge to this vertex's edge list * @param pEdge edge to add */

* Adds a listener * @param pListener */

* Adds scan to vector of running scans * @param pScan */

* Adds scan to vector of processed scans tagging scan with given unique id * @param pScan */

* Adds the scan's information to this grid's counters (optionally * update the grid's cells' occupancy status) * @param pScan * @param doUpda

* Marks cells where scans' points hit as being occupied * @param rScans scans whose points will mark cells in grid as being occupied * @param viewPo

* Adds and indexes the given vertex into the map using the given name * @param rName * @param pVertex */

* Allocate space for the matrix */

/

* Default constructor */

* Constructs a breadth-first traverser for the given graph */

* Sets up the kernel for grid smearing. */

/

* Deletes data of this buffered device */

* Deletes the graph data */

* Resets the solver */

* Sets this matrix to zero matrix */

* Set all entries to 0 */

* Clear out the grid data */

* Delete all stored data */

* Clear array */

/

/