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:

#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)};


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).