MRPT
2.0.0
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Options for the Thrun's model, which generates a CPosePDFParticles object in poseChange using a MonteCarlo simulation.
See docs in: https://www.mrpt.org/tutorials/programming/odometry-and-motion-models/probabilistic_motion_models/
Definition at line 127 of file CActionRobotMovement2D.h.
#include <mrpt/obs/CActionRobotMovement2D.h>
Public Attributes | |
uint32_t | nParticlesCount {300} |
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 {0.05f} |
float | alfa2_rot_trans {mrpt::DEG2RAD(4.0f)} |
float | alfa3_trans_trans {0.01f} |
float | alfa4_trans_rot {mrpt::RAD2DEG(0.0001f)} |
float | additional_std_XY {0.001f} |
An additional noise added to the thrun model (std. More... | |
float | additional_std_phi {mrpt::DEG2RAD(0.05f)} |
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_phi {mrpt::DEG2RAD(0.05f)} |
Definition at line 141 of file CActionRobotMovement2D.h.
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_XY {0.001f} |
An additional noise added to the thrun model (std.
dev. in meters and radians).
Definition at line 140 of file CActionRobotMovement2D.h.
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa1_rot_rot {0.05f} |
Definition at line 133 of file CActionRobotMovement2D.h.
Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun().
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa2_rot_trans {mrpt::DEG2RAD(4.0f)} |
Definition at line 134 of file CActionRobotMovement2D.h.
Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun().
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa3_trans_trans {0.01f} |
Definition at line 135 of file CActionRobotMovement2D.h.
Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun().
float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa4_trans_rot {mrpt::RAD2DEG(0.0001f)} |
Definition at line 136 of file CActionRobotMovement2D.h.
Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun().
uint32_t mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::nParticlesCount {300} |
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 132 of file CActionRobotMovement2D.h.
Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun().
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