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

Detailed Description

Options for the Thrun's model, which generates a CPosePDFParticles object in poseChange using a MonteCarlo simulation.

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

Definition at line 127 of file CActionRobotMovement2D.h.

#include <mrpt/obs/CActionRobotMovement2D.h>

Public Attributes
uint32_t	nParticlesCount {300}
	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 {0.05f}
float	alfa2_rot_trans {mrpt::DEG2RAD(4.0f)}
float	alfa3_trans_trans {0.01f}
float	alfa4_trans_rot {mrpt::RAD2DEG(0.0001f)}
float	additional_std_XY {0.001f}
	An additional noise added to the thrun model (std. More...
float	additional_std_phi {mrpt::DEG2RAD(0.05f)}

Member Data Documentation

additional_std_phi

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_phi {mrpt::DEG2RAD(0.05f)}

Definition at line 141 of file CActionRobotMovement2D.h.

additional_std_XY

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_XY {0.001f}

An additional noise added to the thrun model (std.

dev. in meters and radians).

Definition at line 140 of file CActionRobotMovement2D.h.

alfa1_rot_rot

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa1_rot_rot {0.05f}

Definition at line 133 of file CActionRobotMovement2D.h.

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

alfa2_rot_trans

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa2_rot_trans {mrpt::DEG2RAD(4.0f)}

Definition at line 134 of file CActionRobotMovement2D.h.

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

alfa3_trans_trans

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa3_trans_trans {0.01f}

Definition at line 135 of file CActionRobotMovement2D.h.

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

alfa4_trans_rot

float mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa4_trans_rot {mrpt::RAD2DEG(0.0001f)}

Definition at line 136 of file CActionRobotMovement2D.h.

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

nParticlesCount

uint32_t mrpt::obs::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::nParticlesCount {300}

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 132 of file CActionRobotMovement2D.h.

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