NDTMCL3D< PointT > Class Template Reference

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#include <3d_ndt_mcl.hpp>

List of all members.

Public Member Functions
Eigen::Affine3d	getMean ()
Eigen::Vector3d	getMeanVector ()
void	initializeFilter (double x, double y, double z, double roll, double pitch, double yaw, double x_e, double y_e, double z_e, double roll_e, double pitch_e, double yaw_e, unsigned int numParticles)
	NDTMCL3D (double map_resolution, lslgeneric::NDTMap< PointT > &nd_map, double zfilter)
void	updateAndPredict (Eigen::Affine3d Tmotion, pcl::PointCloud< PointT > &cloud)
void	updateAndPredictEff (Eigen::Affine3d Tmotion, pcl::PointCloud< PointT > &cloud)
Public Attributes
int	counter
bool	forceSIR
lslgeneric::NDTMap< PointT >	map
	This is my map.
ParticleFilter3D	pf
	This is the particle filter.
double	resolution
double	zfilt_min
Private Attributes
bool	isInit
int	sinceSIR

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Detailed Description

template<typename PointT>
class NDTMCL3D< PointT >

Timing.

NDT MCL - Class implementation

Definition at line 21 of file 3d_ndt_mcl.hpp.

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Constructor & Destructor Documentation

template<typename PointT >

NDTMCL3D< PointT >::NDTMCL3D	(	double	map_resolution,
		lslgeneric::NDTMap< PointT > &	nd_map,
		double	zfilter
	)		[inline]

Constructor

First, lets make our target map match the given map This is done because we want (possibly) lower resolution target map

Definition at line 32 of file 3d_ndt_mcl.hpp.

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Member Function Documentation

template<typename PointT >

Eigen::Affine3d NDTMCL3D< PointT >::getMean

(

)

[inline]

Definition at line 314 of file 3d_ndt_mcl.hpp.

template<typename PointT >

Eigen::Vector3d NDTMCL3D< PointT >::getMeanVector

(

)

[inline]

Definition at line 308 of file 3d_ndt_mcl.hpp.

template<typename PointT >

void NDTMCL3D< PointT >::initializeFilter	(	double	x,
		double	y,
		double	z,
		double	roll,
		double	pitch,
		double	yaw,
		double	x_e,
		double	y_e,
		double	z_e,
		double	roll_e,
		double	pitch_e,
		double	yaw_e,
		unsigned int	numParticles
	)		[inline]

Intialize filter to some pose and with some number of particles

Definition at line 80 of file 3d_ndt_mcl.hpp.

template<typename PointT >

void NDTMCL3D< PointT >::updateAndPredict	(	Eigen::Affine3d	Tmotion,
		pcl::PointCloud< PointT > &	cloud
	)		[inline]

Definition at line 93 of file 3d_ndt_mcl.hpp.

template<typename PointT >

void NDTMCL3D< PointT >::updateAndPredictEff	(	Eigen::Affine3d	Tmotion,
		pcl::PointCloud< PointT > &	cloud
	)		[inline]

#pragma

Definition at line 193 of file 3d_ndt_mcl.hpp.

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Member Data Documentation

template<typename PointT >

int NDTMCL3D< PointT >::counter

Definition at line 26 of file 3d_ndt_mcl.hpp.

template<typename PointT >

bool NDTMCL3D< PointT >::forceSIR

Definition at line 28 of file 3d_ndt_mcl.hpp.

template<typename PointT >

bool NDTMCL3D< PointT >::isInit [private]

Definition at line 323 of file 3d_ndt_mcl.hpp.

template<typename PointT >

lslgeneric::NDTMap<PointT> NDTMCL3D< PointT >::map

This is my map.

Definition at line 23 of file 3d_ndt_mcl.hpp.

template<typename PointT >

ParticleFilter3D NDTMCL3D< PointT >::pf

This is the particle filter.

Definition at line 24 of file 3d_ndt_mcl.hpp.

template<typename PointT >

double NDTMCL3D< PointT >::resolution

Definition at line 25 of file 3d_ndt_mcl.hpp.

template<typename PointT >

int NDTMCL3D< PointT >::sinceSIR [private]

Definition at line 324 of file 3d_ndt_mcl.hpp.

template<typename PointT >

double NDTMCL3D< PointT >::zfilt_min

Definition at line 27 of file 3d_ndt_mcl.hpp.

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

• 3d_ndt_mcl.hpp