struct mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel

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/

#include <mrpt/obs/CActionRobotMovement2D.h>

struct TOptions_ThrunModel
{
    //
fields

    uint32_t nParticlesCount {300};
    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};
    float additional_std_phi {mrpt::DEG2RAD(0.05f)};
};

Fields

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)

float additional_std_XY {0.001f}

An additional noise added to the thrun model (std.

dev. in meters and radians).