Single Hypothesis SLAM Overview
NB: based on https://github.com/OSLL/slam-constructor/commit/415f6ace946ca14aad4e4af771b3cb92b586fd62
- the red dotted line - control flow
- black dashed lines - data "reads"
- black straight lines - data "writes"
[base class name] - [responsibility] ([parameter name in configs])
- [subclass name] ([parameter value, unavailable means the component is not configurable])
OccupancyMap - holds information about environment occupancy (non-available, SLAM-specific)
GridCell - an occupancy model of a nondividable area (slam/cell/type)
- BaseTinyCell (base)
- AvgTinyCell (avg)
- VinyDSCell (unavailable)
- GmappingBaseCell (unavailable)
GridScanMatcher - performs pose correction via scan matching (slam/scmtch/type)
- MonteCarloScanMatcher (MC)
- HillClimbingScanMatcher (HC)
- BruteForceScanMatcher (unavailable)
- BruteForceMultiResolutionScanMatcher (unavailable)
ScanProbabilityEstimator - estimates how well a given scan fits the map at a given robot pose (slam/scmtch/spe/type)
- WeightedMeanPointProbabilitySPE (wmpp)
OccupancyObservationPE - estimates how well an observation at a given point matches already available ones (slam/scmtch/oope/type)
- ObstacleBasedOccupancyObservationPE (obstacle)
- MaxOccupancyObservationPE (max)
- MeanOccupancyObservationPE (mean)
- OverlapWeightedOccupancyObservationPE (overlap)
ScanPointWeighting - estimates importance of an observation provided by a scan point (slam/scmtch/spe/wmpp/weighting/type)
- EvenSPW (even)
- VinySlamSPW (viny)
- AngleHistogramReciprocalSPW (ahr)
GridMapScanAdder - adds scan-based occupancy information to the map (unavailable)
- WallDistanceBlurringScanAdder (unavailable)
CellOccupancyEstimator - converts a scan point observation to occupancy that is about to be stored (slam/occupancy_estimator/type)
- ConstOccupancyEstimator (const)
- AreaOccupancyEstimator (area)