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

Detailed Description

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/.

Definition at line 103 of file CActionRobotMovement2D.h.

#include <mrpt/obs/CActionRobotMovement2D.h>

Public Attributes
uint32_t	nParticlesCount
	The default number of particles to generate in a internal representation (anyway you can draw as many samples as you want through CActionRobotMovement2D::drawSingleSample) More...
float	alfa1_rot_rot
float	alfa2_rot_trans
float	alfa3_trans_trans
float	alfa4_trans_rot
float	additional_std_XY
	An additional noise added to the thrun model (std. More...
float	additional_std_phi

Member Data Documentation

additional_std_phi

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_phi

Definition at line 116 of file CActionRobotMovement2D.h.

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

additional_std_XY

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_XY

An additional noise added to the thrun model (std.

dev. in meters and radians).

Definition at line 116 of file CActionRobotMovement2D.h.

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

alfa1_rot_rot

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa1_rot_rot

Definition at line 109 of file CActionRobotMovement2D.h.

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

alfa2_rot_trans

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa2_rot_trans

Definition at line 110 of file CActionRobotMovement2D.h.

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

alfa3_trans_trans

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa3_trans_trans

Definition at line 111 of file CActionRobotMovement2D.h.

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

alfa4_trans_rot

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa4_trans_rot

Definition at line 112 of file CActionRobotMovement2D.h.

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

nParticlesCount

uint32_t mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::nParticlesCount

The default number of particles to generate in a internal representation (anyway you can draw as many samples as you want through CActionRobotMovement2D::drawSingleSample)

Definition at line 108 of file CActionRobotMovement2D.h.

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