MRPT  1.9.9
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mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams Struct Reference

Detailed Description

Input params for laserScanSimulatorWithUncertainty()

Definition at line 833 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...
 

Constructor & Destructor Documentation

◆ TLaserSimulUncertaintyParams()

COccupancyGridMap2D::TLaserSimulUncertaintyParams::TLaserSimulUncertaintyParams ( )
default

Member Data Documentation

◆ angleNoiseStd

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 872 of file COccupancyGridMap2D.h.

◆ aperture

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 856 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

◆ decimation

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 875 of file COccupancyGridMap2D.h.

Referenced by func_laserSimul_callback().

◆ maxRange

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 862 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

◆ MC_samples

size_t mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::MC_samples {10}

[sumMonteCarlo] MonteCarlo parameter: number of samples (Default: 10)

Definition at line 845 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

◆ method

TLaserSimulUncertaintyMethod mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::method {sumUnscented}

(Default: sumMonteCarlo) Select the method to do the uncertainty propagation

Definition at line 837 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

◆ nRays

size_t mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::nRays {361}

◆ rangeNoiseStd

float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::rangeNoiseStd {.0f}

(Default: 0) The standard deviation of measurement noise.

If not desired, set to 0

Definition at line 869 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization().

◆ rightToLeft

bool mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::rightToLeft {true}

(Default: true) The scanning direction: true=counterclockwise; false=clockwise

Definition at line 859 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

◆ robotPose

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 853 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

◆ sensorPose

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 865 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

◆ threshold

float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::threshold {.6f}

(Default: 0.6f) The minimum occupancy threshold to consider a cell to be occupied

Definition at line 878 of file COccupancyGridMap2D.h.

Referenced by func_laserSimul_callback().

◆ UT_alpha

double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_alpha {0.99}

[sumUnscented] UT parameters.

Defaults: alpha=0.99, kappa=0, betta=2.0

Definition at line 842 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

◆ UT_beta

double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_beta {2.0}

◆ UT_kappa

double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_kappa {.0}



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