mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams Struct Reference

Detailed Description

Input params for laserScanSimulatorWithUncertainty()

Definition at line 840 of file COccupancyGridMap2D.h.

#include <mrpt/maps/COccupancyGridMap2D.h>

Public Member Functions
	TLaserSimulUncertaintyParams ()

Public Attributes
TLaserSimulUncertaintyMethod	method {sumUnscented}
	(Default: sumMonteCarlo) Select the method to do the uncertainty propagation More...
Parameters for each uncertainty method
double	UT_alpha {0.99}
	[sumUnscented] UT parameters. More...
double	UT_kappa {.0}
double	UT_beta {2.0}
size_t	MC_samples {10}
	[sumMonteCarlo] MonteCarlo parameter: number of samples (Default: 10) More...
Generic parameters for all methods
mrpt::poses::CPosePDFGaussian	robotPose
	The robot pose Gaussian, in map coordinates. More...
float	aperture {M_PIf}
	(Default: M_PI) The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees). More...
bool	rightToLeft {true}
	(Default: true) The scanning direction: true=counterclockwise; false=clockwise More...
float	maxRange {80.f}
	(Default: 80) The maximum range allowed by the device, in meters (e.g. More...
mrpt::poses::CPose3D	sensorPose
	(Default: at origin) The 6D pose of the sensor on the robot at the moment of starting the scan. More...
size_t	nRays {361}
float	rangeNoiseStd {.0f}
	(Default: 0) The standard deviation of measurement noise. More...
float	angleNoiseStd {.0f}
	(Default: 0) The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians) More...
unsigned int	decimation {1}
	(Default: 1) The rays that will be simulated are at indexes: 0, D, 2D, 3D,... More...
float	threshold {.6f}
	(Default: 0.6f) The minimum occupancy threshold to consider a cell to be occupied More...

Constructor & Destructor Documentation

TLaserSimulUncertaintyParams()

COccupancyGridMap2D::TLaserSimulUncertaintyParams::TLaserSimulUncertaintyParams ( )

default

Member Data Documentation

angleNoiseStd

float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::angleNoiseStd {.0f}

(Default: 0) The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians)

Definition at line 879 of file COccupancyGridMap2D.h.

aperture

float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::aperture {M_PIf}

(Default: M_PI) The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees).

Definition at line 863 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

decimation

unsigned int mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::decimation {1}

(Default: 1) The rays that will be simulated are at indexes: 0, D, 2D, 3D,...

Definition at line 882 of file COccupancyGridMap2D.h.

Referenced by func_laserSimul_callback().

maxRange

float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::maxRange {80.f}

(Default: 80) The maximum range allowed by the device, in meters (e.g.

80m, 50m,...)

Definition at line 869 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

MC_samples

size_t mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::MC_samples {10}

[sumMonteCarlo] MonteCarlo parameter: number of samples (Default: 10)

Definition at line 852 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

method

TLaserSimulUncertaintyMethod mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::method {sumUnscented}

(Default: sumMonteCarlo) Select the method to do the uncertainty propagation

Definition at line 844 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

nRays

size_t mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::nRays {361}

Definition at line 873 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

rangeNoiseStd

float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::rangeNoiseStd {.0f}

(Default: 0) The standard deviation of measurement noise.

If not desired, set to 0

Definition at line 876 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization().

rightToLeft

bool mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::rightToLeft {true}

(Default: true) The scanning direction: true=counterclockwise; false=clockwise

Definition at line 866 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

robotPose

mrpt::poses::CPosePDFGaussian mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::robotPose

The robot pose Gaussian, in map coordinates.

Recall that sensor pose relative to this robot pose must be specified in the observation object

Definition at line 860 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

sensorPose

mrpt::poses::CPose3D mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::sensorPose

(Default: at origin) The 6D pose of the sensor on the robot at the moment of starting the scan.

Definition at line 872 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), func_laserSimul_callback(), and mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

threshold

float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::threshold {.6f}

(Default: 0.6f) The minimum occupancy threshold to consider a cell to be occupied

Definition at line 885 of file COccupancyGridMap2D.h.

Referenced by func_laserSimul_callback().

UT_alpha

double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_alpha {0.99}

[sumUnscented] UT parameters.

Defaults: alpha=0.99, kappa=0, betta=2.0

Definition at line 849 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

UT_beta

double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_beta {2.0}

Definition at line 849 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().

UT_kappa

double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_kappa {.0}

Definition at line 849 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::laserScanSimulatorWithUncertainty().