GMapping::GridSlamProcessor::Particle Struct Reference

#include <gridslamprocessor.h>

List of all members.

Public Member Functions

 operator double () const
 operator OrientedPoint () const
 Particle (const ScanMatcherMap &map)
void setWeight (double w)

Public Attributes

double gweight
ScanMatcherMap map
TNodenode
OrientedPoint pose
int previousIndex
OrientedPoint previousPose
double weight
double weightSum

Detailed Description

This class defines a particle of the filter. Each particle has a map, a pose, a weight and retains the current node in the trajectory tree

Definition at line 71 of file gridslamprocessor.h.


Constructor & Destructor Documentation

GMapping::GridSlamProcessor::Particle::Particle ( const ScanMatcherMap map  ) 

constructs a particle, given a map

Parameters:
map,: the particle map

Member Function Documentation

GMapping::GridSlamProcessor::Particle::operator double (  )  const [inline]
Returns:
the weight of a particle

Definition at line 78 of file gridslamprocessor.h.

GMapping::GridSlamProcessor::Particle::operator OrientedPoint (  )  const [inline]
Returns:
the pose of a particle

Definition at line 80 of file gridslamprocessor.h.

void GMapping::GridSlamProcessor::Particle::setWeight ( double  w  )  [inline]

sets the weight of a particle

Parameters:
w the weight

Definition at line 84 of file gridslamprocessor.h.


Member Data Documentation

Definition at line 99 of file gridslamprocessor.h.

The map

Definition at line 86 of file gridslamprocessor.h.

Entry to the trajectory tree

Definition at line 105 of file gridslamprocessor.h.

The pose of the robot

Definition at line 88 of file gridslamprocessor.h.

The index of the previous particle in the trajectory tree

Definition at line 102 of file gridslamprocessor.h.

The pose of the robot at the previous time frame (used for computing thr odometry displacements)

Definition at line 91 of file gridslamprocessor.h.

The weight of the particle

Definition at line 94 of file gridslamprocessor.h.

The cumulative weight of the particle

Definition at line 97 of file gridslamprocessor.h.


The documentation for this struct was generated from the following file:
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gmapping
Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard; ROS wrapper by Brian Gerkey
autogenerated on Fri Jan 11 09:32:13 2013