humanoid_localization::RaycastingModel Class Reference

#include <RaycastingModel.h>

Inheritance diagram for humanoid_localization::RaycastingModel:

List of all members.

Public Member Functions
virtual void	integrateMeasurement (Particles &particles, const PointCloud &pc, const std::vector< float > &ranges, float max_range, const tf::Transform &baseToSensor)
	RaycastingModel (ros::NodeHandle *nh, boost::shared_ptr< MapModel > mapModel, EngineT *rngEngine)
virtual	~RaycastingModel ()
Protected Member Functions
bool	getHeightError (const Particle &p, const tf::StampedTransform &footprintToBase, double &heightError) const
Protected Attributes
bool	m_filterPointCloudGround
double	m_groundFilterAngle
double	m_groundFilterDistance
double	m_groundFilterPlaneDistance
double	m_lambdaShort
int	m_numFloorPoints
int	m_numNonFloorPoints
double	m_sigmaHit
double	m_zHit
double	m_zMax
double	m_zRand
double	m_zShort

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Detailed Description

Definition at line 41 of file RaycastingModel.h.

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Constructor & Destructor Documentation

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

Definition at line 33 of file RaycastingModel.cpp.

humanoid_localization::RaycastingModel::~RaycastingModel

(

)

[virtual]

Definition at line 53 of file RaycastingModel.cpp.

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Member Function Documentation

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

Implements humanoid_localization::ObservationModel.

Definition at line 132 of file RaycastingModel.cpp.

void humanoid_localization::RaycastingModel::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 57 of file RaycastingModel.cpp.

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Member Data Documentation

bool humanoid_localization::RaycastingModel::m_filterPointCloudGround [protected]

Definition at line 57 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_groundFilterAngle [protected]

Definition at line 59 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_groundFilterDistance [protected]

Definition at line 58 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_groundFilterPlaneDistance [protected]

Definition at line 60 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_lambdaShort [protected]

Definition at line 55 of file RaycastingModel.h.

int humanoid_localization::RaycastingModel::m_numFloorPoints [protected]

Definition at line 61 of file RaycastingModel.h.

int humanoid_localization::RaycastingModel::m_numNonFloorPoints [protected]

Definition at line 62 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_sigmaHit [protected]

Definition at line 54 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_zHit [protected]

Definition at line 50 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_zMax [protected]

Definition at line 53 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_zRand [protected]

Definition at line 51 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_zShort [protected]

Definition at line 52 of file RaycastingModel.h.

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

• RaycastingModel.h
• RaycastingModel.cpp