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://docs.mrpt.org/reference/latest/tutorial-motion-models.html
#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).