humanoid_localization::EndpointModel Class Reference

#include <EndpointModel.h>

Inheritance diagram for humanoid_localization::EndpointModel:

List of all members.

Public Member Functions
	EndpointModel (ros::NodeHandle *nh, boost::shared_ptr< MapModel > mapModel, EngineT *rngEngine)
virtual void	integrateMeasurement (Particles &particles, const PointCloud &pc, const std::vector< float > &ranges, float max_range, const tf::Transform &baseToSensor)
virtual void	setMap (boost::shared_ptr< octomap::OcTree > map)
virtual	~EndpointModel ()
Protected Member Functions
bool	getHeightError (const Particle &p, const tf::StampedTransform &footprintToBase, double &heightError) const
void	initDistanceMap ()
Protected Attributes
boost::shared_ptr < DynamicEDTOctomap >	m_distanceMap
double	m_maxObstacleDistance
double	m_sigma

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Detailed Description

Definition at line 42 of file EndpointModel.h.

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Constructor & Destructor Documentation

humanoid_localization::EndpointModel::EndpointModel	(	ros::NodeHandle *	nh,
		boost::shared_ptr< MapModel >	mapModel,
		EngineT *	rngEngine
	)

Definition at line 28 of file EndpointModel.cpp.

humanoid_localization::EndpointModel::~EndpointModel

(

)

[virtual]

Definition at line 45 of file EndpointModel.cpp.

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Member Function Documentation

bool humanoid_localization::EndpointModel::getHeightError	(	const Particle &	p,
		const tf::StampedTransform &	footprintToBase,
		double &	heightError
	)		const [protected, virtual]

Implements humanoid_localization::ObservationModel.

Definition at line 80 of file EndpointModel.cpp.

void humanoid_localization::EndpointModel::initDistanceMap

(

)

[protected]

Definition at line 107 of file EndpointModel.cpp.

void humanoid_localization::EndpointModel::integrateMeasurement	(	Particles &	particles,
		const PointCloud &	pc,
		const std::vector< float > &	ranges,
		float	max_range,
		const tf::Transform &	baseToSensor
	)		[virtual]

Integrate a measurement in particle set, update weights accordingly Particle weights should be in log scale before, weights are added.

Implements humanoid_localization::ObservationModel.

Definition at line 49 of file EndpointModel.cpp.

void humanoid_localization::EndpointModel::setMap

(

boost::shared_ptr< octomap::OcTree >

map

)

[virtual]

Reimplemented from humanoid_localization::ObservationModel.

Definition at line 102 of file EndpointModel.cpp.

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Member Data Documentation

boost::shared_ptr<DynamicEDTOctomap> humanoid_localization::EndpointModel::m_distanceMap [protected]

Definition at line 55 of file EndpointModel.h.

double humanoid_localization::EndpointModel::m_maxObstacleDistance [protected]

Definition at line 54 of file EndpointModel.h.

double humanoid_localization::EndpointModel::m_sigma [protected]

Definition at line 53 of file EndpointModel.h.

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The documentation for this class was generated from the following files:

• EndpointModel.h
• EndpointModel.cpp