Options for the Thrun's model, which generates a CPosePDFParticles object in poseChange See docs in : http://www.mrpt.org/tutorials/programming/odometry-and-motion-models/probabilistic_motion_models/.
Definition at line 88 of file obs/CActionRobotMovement2D.h.
#include <mrpt/obs/CActionRobotMovement2D.h>
Public Attributes | |
uint32_t | nParticlesCount |
The default number of particles to generate in a internal representation (anyway you can draw as many samples as you want through CActionRobotMovement2D::drawSingleSample) More... | |
float | alfa1_rot_rot |
float | alfa2_rot_trans |
float | alfa3_trans_trans |
float | alfa4_trans_rot |
float | additional_std_XY |
An additional noise added to the thrun model (std. More... | |
float | additional_std_phi |
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_phi |
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_XY |
An additional noise added to the thrun model (std.
dev. in meters and radians).
Definition at line 98 of file obs/CActionRobotMovement2D.h.
Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), and mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TMotionModelOptions().
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa1_rot_rot |
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa2_rot_trans |
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa3_trans_trans |
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa4_trans_rot |
uint32_t mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::nParticlesCount |
The default number of particles to generate in a internal representation (anyway you can draw as many samples as you want through CActionRobotMovement2D::drawSingleSample)
Definition at line 91 of file obs/CActionRobotMovement2D.h.
Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), and mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TMotionModelOptions().
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