#include <gridslamprocessor.h>
Public Member Functions | |
operator double () const | |
operator OrientedPoint () const | |
Particle (const ScanMatcherMap &map) | |
void | setWeight (double w) |
Public Attributes | |
double | gweight |
ScanMatcherMap | map |
TNode * | node |
OrientedPoint | pose |
int | previousIndex |
OrientedPoint | previousPose |
double | weight |
double | weightSum |
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.
GMapping::GridSlamProcessor::Particle::Particle | ( | const ScanMatcherMap & | map | ) |
constructs a particle, given a map
map,: | the particle map |
GMapping::GridSlamProcessor::Particle::operator double | ( | ) | const [inline] |
Definition at line 78 of file gridslamprocessor.h.
GMapping::GridSlamProcessor::Particle::operator OrientedPoint | ( | ) | const [inline] |
Definition at line 80 of file gridslamprocessor.h.
void GMapping::GridSlamProcessor::Particle::setWeight | ( | double | w | ) | [inline] |
sets the weight of a particle
w | the weight |
Definition at line 84 of file gridslamprocessor.h.
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.