AMCLLocalizer.cpp File Reference

Implementation of the AMCLLocalizer class using Costmap2D. More...

#include <expected>
#include <random>
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
#include "tf2/LinearMath/Vector3.hpp"
#include "easynav_common/RTTFBuffer.hpp"
#include "easynav_common/types/Perceptions.hpp"
#include "easynav_common/types/PointPerception.hpp"
#include "easynav_costmap_common/costmap_2d.hpp"
#include "easynav_costmap_common/cost_values.hpp"
#include "easynav_costmap_localizer/AMCLLocalizer.hpp"
#include "easynav_localizer/LocalizerNode.hpp"
#include <pluginlib/class_list_macros.hpp>

Include dependency graph for AMCLLocalizer.cpp:

Namespaces
namespace	easynav
	Provides a mapping for often used cost values.

Functions
tf2::Matrix3x3	computeCovariance (const std::vector< Particle > &particles, std::size_t start, std::size_t count, const tf2::Vector3 &mean)
tf2::Vector3	computeMean (const std::vector< Particle > &particles, std::size_t start, std::size_t count)
double	computeYawVariance (const std::vector< Particle > &particles, std::size_t start, std::size_t count)
double	extractYaw (const tf2::Transform &transform)
void	printTransform (const tf2::Transform &tf)

Detailed Description

Implementation of the AMCLLocalizer class using Costmap2D.