mrpt::obs::CActionRobotMovement2D::TMotionModelOptions Struct Reference

Detailed Description

The parameter to be passed to "computeFromOdometry".

Definition at line 80 of file CActionRobotMovement2D.h.

#include <mrpt/obs/CActionRobotMovement2D.h>

Classes
struct	TOptions_GaussianModel
	Options for the gaussian model, which generates a CPosePDFGaussian object in poseChange See docs in : http://www.mrpt.org/tutorials/programming/odometry-and-motion-models/probabilistic_motion_models/. More...
struct	TOptions_ThrunModel
	Options for the Thrun's model, which generates a CPosePDFParticles object in poseChange See docs in : http://www.mrpt.org/tutorials/programming/odometry-and-motion-models/probabilistic_motion_models/. More...

Public Member Functions
	TMotionModelOptions ()
	Default values loader. More...

Public Attributes
TDrawSampleMotionModel	modelSelection
	The model to be used. More...
struct mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel	gaussianModel
struct mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel	thrunModel

Constructor & Destructor Documentation

TMotionModelOptions()

CActionRobotMovement2D::TMotionModelOptions::TMotionModelOptions

(

)

Default values loader.

Definition at line 398 of file CActionRobotMovement2D.cpp.

References mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a1, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a2, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a3, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a4, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_phi, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_XY, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa1_rot_rot, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa2_rot_trans, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa3_trans_trans, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa4_trans_rot, mrpt::DEG2RAD(), gaussianModel, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::minStdPHI, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::minStdXY, mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::nParticlesCount, mrpt::RAD2DEG(), and thrunModel.

Member Data Documentation

gaussianModel

struct mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::gaussianModel

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian(), mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal(), and TMotionModelOptions().

modelSelection

TDrawSampleMotionModel mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::modelSelection

The model to be used.

Definition at line 86 of file CActionRobotMovement2D.h.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry(), mrpt::obs::CActionRobotMovement2D::drawSingleSample(), mrpt::obs::CActionRobotMovement2D::fastDrawSingleSample(), and mrpt::obs::CActionRobotMovement2D::prepareFastDrawSingleSamples().

thrunModel

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

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelThrun(), mrpt::obs::CActionRobotMovement2D::drawSingleSample_modelThrun(), and TMotionModelOptions().