MRPT
2.0.1
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Input params for laserScanSimulatorWithUncertainty()
Definition at line 840 of file COccupancyGridMap2D.h.
#include <mrpt/maps/COccupancyGridMap2D.h>
Public Member Functions | |
TLaserSimulUncertaintyParams () | |
Public Attributes | |
TLaserSimulUncertaintyMethod | method {sumUnscented} |
(Default: sumMonteCarlo) Select the method to do the uncertainty propagation More... | |
Parameters for each uncertainty method | |
double | UT_alpha {0.99} |
[sumUnscented] UT parameters. More... | |
double | UT_kappa {.0} |
double | UT_beta {2.0} |
size_t | MC_samples {10} |
[sumMonteCarlo] MonteCarlo parameter: number of samples (Default: 10) More... | |
Generic parameters for all methods | |
mrpt::poses::CPosePDFGaussian | robotPose |
The robot pose Gaussian, in map coordinates. More... | |
float | aperture {M_PIf} |
(Default: M_PI) The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees). More... | |
bool | rightToLeft {true} |
(Default: true) The scanning direction: true=counterclockwise; false=clockwise More... | |
float | maxRange {80.f} |
(Default: 80) The maximum range allowed by the device, in meters (e.g. More... | |
mrpt::poses::CPose3D | sensorPose |
(Default: at origin) The 6D pose of the sensor on the robot at the moment of starting the scan. More... | |
size_t | nRays {361} |
float | rangeNoiseStd {.0f} |
(Default: 0) The standard deviation of measurement noise. More... | |
float | angleNoiseStd {.0f} |
(Default: 0) The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians) More... | |
unsigned int | decimation {1} |
(Default: 1) The rays that will be simulated are at indexes: 0, D, 2D, 3D,... More... | |
float | threshold {.6f} |
(Default: 0.6f) The minimum occupancy threshold to consider a cell to be occupied More... | |
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default |
float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::angleNoiseStd {.0f} |
(Default: 0) The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians)
Definition at line 879 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::aperture {M_PIf} |
(Default: M_PI) The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees).
Definition at line 863 of file COccupancyGridMap2D.h.
Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().
unsigned int mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::decimation {1} |
(Default: 1) The rays that will be simulated are at indexes: 0, D, 2D, 3D,...
Definition at line 882 of file COccupancyGridMap2D.h.
Referenced by func_laserSimul_callback().
float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::maxRange {80.f} |
(Default: 80) The maximum range allowed by the device, in meters (e.g.
80m, 50m,...)
Definition at line 869 of file COccupancyGridMap2D.h.
Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().
size_t mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::MC_samples {10} |
[sumMonteCarlo] MonteCarlo parameter: number of samples (Default: 10)
Definition at line 852 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().
TLaserSimulUncertaintyMethod mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::method {sumUnscented} |
(Default: sumMonteCarlo) Select the method to do the uncertainty propagation
Definition at line 844 of file COccupancyGridMap2D.h.
Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().
size_t mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::nRays {361} |
Definition at line 873 of file COccupancyGridMap2D.h.
Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().
float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::rangeNoiseStd {.0f} |
(Default: 0) The standard deviation of measurement noise.
If not desired, set to 0
Definition at line 876 of file COccupancyGridMap2D.h.
Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization().
bool mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::rightToLeft {true} |
(Default: true) The scanning direction: true=counterclockwise; false=clockwise
Definition at line 866 of file COccupancyGridMap2D.h.
Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().
mrpt::poses::CPosePDFGaussian mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::robotPose |
The robot pose Gaussian, in map coordinates.
Recall that sensor pose relative to this robot pose must be specified in the observation object
Definition at line 860 of file COccupancyGridMap2D.h.
Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().
mrpt::poses::CPose3D mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::sensorPose |
(Default: at origin) The 6D pose of the sensor on the robot at the moment of starting the scan.
Definition at line 872 of file COccupancyGridMap2D.h.
Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().
float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::threshold {.6f} |
(Default: 0.6f) The minimum occupancy threshold to consider a cell to be occupied
Definition at line 885 of file COccupancyGridMap2D.h.
Referenced by func_laserSimul_callback().
double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_alpha {0.99} |
[sumUnscented] UT parameters.
Defaults: alpha=0.99, kappa=0, betta=2.0
Definition at line 849 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().
double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_beta {2.0} |
Definition at line 849 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().
double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_kappa {.0} |
Definition at line 849 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().
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