MRPT
2.0.0
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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... | |
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default |
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inline |
Definition at line 94 of file CActionRobotMovement2D.h.
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().
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().
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().
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().
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().
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().
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