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

Detailed Description

Options for the gaussian model, which generates a CPosePDFGaussian object in poseChange using a closed-form linear Gaussian model.

See docs in: https://www.mrpt.org/tutorials/programming/odometry-and-motion-models/probabilistic_motion_models/

Definition at line 91 of file CActionRobotMovement2D.h.

#include <mrpt/obs/CActionRobotMovement2D.h>

Public Member Functions
	TOptions_GaussianModel ()=default
	TOptions_GaussianModel (double a1_, double a2_, double a3_, double a4_, double minStdXY_, double minStdPHI_)

Public Attributes
double	a1 {0.01}
	Ratio of uncertainty: [meter/meter]. More...
double	a2 {mrpt::RAD2DEG(0.001)}
	Ratio of uncertainty: [meter/degree]. More...
double	a3 {mrpt::DEG2RAD(1.0)}
	Ratio of uncertainty: [degree/meter]. More...
double	a4 {0.05}
	Ratio of uncertainty: [degree/degree]. More...
double	minStdXY {0.01}
	Additional uncertainty: [meters]. More...
double	minStdPHI {mrpt::DEG2RAD(0.2)}
	Additional uncertainty: [degrees]. More...

Constructor & Destructor Documentation

TOptions_GaussianModel() [1/2]

mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::TOptions_GaussianModel ( )

default

TOptions_GaussianModel() [2/2]

mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::TOptions_GaussianModel ( double  a1_, double  a2_, double  a3_, double  a4_, double  minStdXY_, double  minStdPHI_  )

inline

Definition at line 94 of file CActionRobotMovement2D.h.

Member Data Documentation

a1

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a1 {0.01}

Ratio of uncertainty: [meter/meter].

Definition at line 107 of file CActionRobotMovement2D.h.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian().

a2

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a2 {mrpt::RAD2DEG(0.001)}

Ratio of uncertainty: [meter/degree].

Definition at line 109 of file CActionRobotMovement2D.h.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian().

a3

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a3 {mrpt::DEG2RAD(1.0)}

Ratio of uncertainty: [degree/meter].

Definition at line 111 of file CActionRobotMovement2D.h.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian().

a4

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::a4 {0.05}

Ratio of uncertainty: [degree/degree].

Definition at line 113 of file CActionRobotMovement2D.h.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian().

minStdPHI

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::minStdPHI {mrpt::DEG2RAD(0.2)}

Additional uncertainty: [degrees].

Definition at line 117 of file CActionRobotMovement2D.h.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().

minStdXY

double mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_GaussianModel::minStdXY {0.01}

Additional uncertainty: [meters].

Definition at line 115 of file CActionRobotMovement2D.h.

Referenced by mrpt::obs::CActionRobotMovement2D::computeFromOdometry_modelGaussian(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), and mrpt::hmtslam::CLSLAM_RBPF_2DLASER::prediction_and_update_pfAuxiliaryPFOptimal().