Jafar: jafar::rtslam::MapManagerGlobal Class Reference

Map manager made for doing slam as long as possible while optimizing the use of the map. More...

Detailed Description

Map manager made for doing slam as long as possible while optimizing the use of the map.

When the map is full, lower quality and spatially redundant landmarks are removed to make room for new landmarks. Kill if:

Definition at line 179 of file mapManager.hpp.

Inheritance diagram for jafar::rtslam::MapManagerGlobal:

Public Member Functions
	MapManagerGlobal (landmark_factory_ptr_t lmkFactory, double reparTh, double killSizeTh, double killSearchTh, double killMatchTh, double killConsistencyTh, double killUncertaintyTh, double gridAngularRes, double gridDistInit, double gridDistFactor, int gridNDist, double gridPhiFactor)
virtual void	manageDeletion ()
virtual bool	mapSpaceForInit ()
	Does map has enough space to init a new landmark ?
virtual bool	isExclusive (observation_ptr_t obsPtr)
	Returns if the given observation must be exclusive in the FeatureManager (ie we believe there are good chances to find it again very soon), or if new landmarks can be initialized ignoring this observation (ie we believe there is little chance to find it again very soon)
Protected Member Functions
void	fillGrids (bool fill_visible)
Protected Attributes
double	killSearchTh
	minimum number of times the landmark must have been searched to be deleted for match or consistency reasons
double	killMatchTh
	ratio match/search threshold
double	killConsistencyTh
	ratio consistency/search threshold
double	killUncertaintyTh
	ratio uncertainty/dist threshold
SphericalGrid < MapManagerGrid::Cell >	grid_invisible

The documentation for this class was generated from the following file: