LocalizationAndMapping2D< T > Class Template Reference

Modular 2D Simultaneous Localization and Mapping (SLAM) system with flexible map, IMU, and exploration integration. More...

#include <LocalizationAndMapping2D.h>

Inheritance diagram for LocalizationAndMapping2D< T >:

Collaboration diagram for LocalizationAndMapping2D< T >:

Public Member Functions
	LocalizationAndMapping2D (IMap< T > &map, IFrontierExplorer< T > &explorer, Frame2D &world, Frame2D &base, Frame2D &lidar, IMotionState2D &imu)
bool	begin ()
	Initialize SLAM system (IMU and range sensor)
void	end ()
void	addRangeMeasurement (Distance dist, Angle angle, CellState state)
	Register Range Measurement from Lidar.
void	addRangeMeasurement (float distanceM, float angleDeg, CellState state)
	Register Range Measurement from Lidar.
bool	getNextFrontier (Coordinate< float > &result) const
	Find the next frontier cell (boundary between known free and unknown space).
void	subscribe (MessageHandler &handler)
	Subscribe to imu and range sensor messages.
void	unsubscribeAll ()
IMap< T > &	getMap ()
	Access to map.
IMotionState2D &	getIMU ()
	Access to IMU state.
IFrontierExplorer< T > &	getFrontierExplorer ()
Public Member Functions inherited from MessageSource
void	subscribe (MessageHandler &handler, MessageOrigin origin=MessageOrigin::Undefined, MessageContent content=MessageContent::Undefined)
	Subscribe a message handler to this source, with optional filtering.
void	unsubscribeAll ()
	Remove all registered message handlers.
void	sendMessage (Message< float > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< Coordinate< float > > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< GPSCoordinate > &msg)
	Publish a message to all registered handlers.
void	sendMessage (const Message< MotionState3D > &msg)
	Overload for MotionState3D messages.

Protected Member Functions
void	markRay (const Coordinate< float > &sensor, const Coordinate< float > &obstacle, CellState state)
	Mark all cells between the sensor and the obstacle as FREE, and the obstacle cell as OCCUPIED.

Static Protected Member Functions
static bool	onIMUPublished (const Message< float > &msg, void *ref)

Protected Attributes
IFrontierExplorer< T > &	explorer_
RangeSensor< T >	rangeSensor_
IMotionState2D &	imu2d_
IMap< T > &	map_
CallbackMessageHandler	callbackHandler_
Frame2D &	world_
Frame2D &	base_
Frame2D	lidar_
FrameMgr2D	tf_
Protected Attributes inherited from MessageSource
std::vector< MessageHandlerEntry >	messageHandlers_

Detailed Description

template<typename T>
class tinyrobotics::LocalizationAndMapping2D< T >

Modular 2D Simultaneous Localization and Mapping (SLAM) system with flexible map, IMU, and exploration integration.

This class implements a highly modular and extensible 2D SLAM system for occupancy grid mapping, pose estimation, sensor fusion, and autonomous exploration.

Features

• Template Parameters:
  • T: Scalar type for coordinates and math (default: DistanceM) IFrontierExplorer<T><T>)
• Occupancy Grid Mapping: Maintains a 2D grid map for the environment, supporting any compatible map type via IMap<T>.
• Pose Estimation: Integrates IMU/odometry for robot pose tracking and frame transforms (IMotionState2D).
• Sensor Fusion: Supports range sensors (e.g., Lidar) for obstacle detection and map updates.
• Frontier-Based Exploration: Integrates a flexible frontier explorer for autonomous navigation.
• Frame Management: Uses Frame2D and FrameMgr2D for coordinate transforms between world, base, and sensor frames.
• Flexible Integration: All major components (map, IMU, explorer) are passed by reference for easy swapping and testing.
• Message Bus: Inherits from MessageSource for integration with message-based architectures.

Template Parameters

Template Parameters

T	Scalar type for coordinates and math (default: DistanceM)
IFrontierExplorer<T>	The frontier exploration strategy (default: IFrontierExplorer<T><T>)

Ownership & Lifetime

• All major components (map, IMU, explorer) are passed by reference and must outlive the LocalizationAndMapping2D instance.

Usage Example

GridBitMap map;
IMU2D<float> imu;
Frame2D world, base, lidar;
FrontierExplorer<T> explorer(map);
LocalizationAndMapping2D slam(map, explorer, world, base, lidar, imu);
slam.begin();
// ...

Member Function Documentation

getNextFrontier()

bool getNextFrontier ( Coordinate< float > &  result ) const

inline

Find the next frontier cell (boundary between known free and unknown space).

Returns

World coordinates of the next frontier cell, or (0,0) if none found.

markRay()

void markRay ( const Coordinate< float > &  sensor, const Coordinate< float > &  obstacle, CellState  state  )

inlineprotected

Mark all cells between the sensor and the obstacle as FREE, and the obstacle cell as OCCUPIED.

Parameters

sensor_world	World coordinates of the sensor
obs_world	World coordinates of the obstacle

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

• src/TinyRobotics/localization/LocalizationAndMapping2D.h