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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 88 of file obs/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

◆ additional_std_XY

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

◆ alfa1_rot_rot

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

◆ alfa2_rot_trans

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

◆ alfa3_trans_trans

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

◆ alfa4_trans_rot

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

◆ 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 91 of file obs/CActionRobotMovement2D.h.

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




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