easynav Namespace Reference

Classes
class	AMCLLocalizer
	A localization method implementing a simplified AMCL (Adaptive Monte Carlo Localization) approach. More...
struct	GridNode
struct	Particle
	Structure representing a single particle in the AMCL algorithm. More...
class	PIDController
	A simple PID (Proportional-Integral-Derivative) controller implementation. More...
class	SimpleController
	A simple path-following controller using PID and look-ahead strategy. More...
class	SimpleMap
	Simple 2D uint8_t grid using basic C++ types, with full metric conversion support. More...
class	SimpleMapsManager
	A plugin-based map manager using the SimpleMap data structure. More...
class	SimplePlanner
	A planner implementing the A* algorithm on a SimpleMap grid. More...

Functions
double	compute_path_length (const nav_msgs::msg::Path &path)
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)
double	heuristic (int x1, int y1, int x2, int y2)
void	printTransform (const tf2::Transform &tf)

Variables
std::vector< std::pair< int, int > >	neighbors8

Function Documentation

compute_path_length()

double compute_path_length

(

const nav_msgs::msg::Path &

path

)

computeCovariance()

tf2::Matrix3x3 computeCovariance	(	const std::vector< Particle > &	particles,
		std::size_t	start,
		std::size_t	count,
		const tf2::Vector3 &	mean )

computeMean()

tf2::Vector3 computeMean	(	const std::vector< Particle > &	particles,
		std::size_t	start,
		std::size_t	count )

computeYawVariance()

double computeYawVariance	(	const std::vector< Particle > &	particles,
		std::size_t	start,
		std::size_t	count )

extractYaw()

double extractYaw

(

const tf2::Transform &

transform

)

heuristic()

double heuristic	(	int	x1,
		int	y1,
		int	x2,
		int	y2 )

printTransform()

void printTransform

(

const tf2::Transform &

tf

)

Variable Documentation

neighbors8

std::vector<std::pair<int, int> > neighbors8

Initial value:

= {
  {-1, -1}, {-1, 0}, {-1, 1},
  {0, -1}, {0, 1},
  {1, -1}, {1, 0}, {1, 1}
}