MRPT  1.9.9
mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel Struct Reference

Detailed Description

Options for the gaussian model, which generates a CPosePDFGaussian object in poseChange using a closed-form linear Gaussian model.

See docs in: https://www.mrpt.org/tutorials/programming/odometry-and-motion-models/probabilistic_motion_models/

Definition at line 90 of file CActionRobotMovement2D.h.

#include <mrpt/obs/CActionRobotMovement2D.h>

Public Member Functions

 TOptions_GaussianModel ()=default
 
 TOptions_GaussianModel (double a1_, double a2_, double a3_, double a4_, double minStdXY_, double minStdPHI_)
 

Public Attributes

double a1 {0.01}
 Ratio of uncertainty: [meter/meter]. More...
 
double a2 {mrpt::RAD2DEG(0.001)}
 Ratio of uncertainty: [meter/degree]. More...
 
double a3 {mrpt::DEG2RAD(1.0)}
 Ratio of uncertainty: [degree/meter]. More...
 
double a4 {0.05}
 Ratio of uncertainty: [degree/degree]. More...
 
double minStdXY {0.01}
 Additional uncertainty: [meters]. More...
 
double minStdPHI {mrpt::DEG2RAD(0.2)}
 Additional uncertainty: [degrees]. More...
 

Constructor & Destructor Documentation

◆ TOptions_GaussianModel() [1/2]

mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::TOptions_GaussianModel ( )
default

◆ TOptions_GaussianModel() [2/2]

mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::TOptions_GaussianModel ( double  a1_,
double  a2_,
double  a3_,
double  a4_,
double  minStdXY_,
double  minStdPHI_ 
)
inline

Definition at line 93 of file CActionRobotMovement2D.h.

Member Data Documentation

◆ a1

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a1 {0.01}

Ratio of uncertainty: [meter/meter].

Definition at line 106 of file CActionRobotMovement2D.h.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian().

◆ a2

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a2 {mrpt::RAD2DEG(0.001)}

Ratio of uncertainty: [meter/degree].

Definition at line 108 of file CActionRobotMovement2D.h.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian().

◆ a3

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a3 {mrpt::DEG2RAD(1.0)}

Ratio of uncertainty: [degree/meter].

Definition at line 110 of file CActionRobotMovement2D.h.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian().

◆ a4

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a4 {0.05}

Ratio of uncertainty: [degree/degree].

Definition at line 112 of file CActionRobotMovement2D.h.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian().

◆ minStdPHI

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::minStdPHI {mrpt::DEG2RAD(0.2)}

◆ minStdXY

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::minStdXY {0.01}



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