amcl::AMCLLaser Class Reference

#include <amcl_laser.h>

Inheritance diagram for amcl::AMCLLaser:

List of all members.

Public Member Functions
	AMCLLaser (size_t max_beams, map_t *map)
void	SetLaserPose (pf_vector_t &laser_pose)
void	SetModelBeam (double z_hit, double z_short, double z_max, double z_rand, double sigma_hit, double labda_short, double chi_outlier)
void	SetModelLikelihoodField (double z_hit, double z_rand, double sigma_hit, double max_occ_dist)
virtual bool	UpdateSensor (pf_t *pf, AMCLSensorData *data)
Static Private Member Functions
static double	BeamModel (AMCLLaserData *data, pf_sample_set_t *set)
static double	LikelihoodFieldModel (AMCLLaserData *data, pf_sample_set_t *set)
Private Attributes
double	chi_outlier
double	lambda_short
pf_vector_t	laser_pose
map_t *	map
int	max_beams
laser_model_t	model_type
double	sigma_hit
double	time
double	z_hit
double	z_max
double	z_rand
double	z_short

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Detailed Description

Definition at line 58 of file amcl_laser.h.

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Constructor & Destructor Documentation

AMCLLaser::AMCLLaser	(	size_t	max_beams,
		map_t *	map
	)

Definition at line 42 of file amcl_laser.cpp.

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Member Function Documentation

double AMCLLaser::BeamModel	(	AMCLLaserData *	data,
		pf_sample_set_t *	set
	)		[static, private]

Definition at line 108 of file amcl_laser.cpp.

double AMCLLaser::LikelihoodFieldModel	(	AMCLLaserData *	data,
		pf_sample_set_t *	set
	)		[static, private]

Definition at line 179 of file amcl_laser.cpp.

void amcl::AMCLLaser::SetLaserPose

(

pf_vector_t &

laser_pose

)

[inline]

Definition at line 81 of file amcl_laser.h.

void AMCLLaser::SetModelBeam	(	double	z_hit,
		double	z_short,
		double	z_max,
		double	z_rand,
		double	sigma_hit,
		double	labda_short,
		double	chi_outlier
	)

Definition at line 53 of file amcl_laser.cpp.

void AMCLLaser::SetModelLikelihoodField	(	double	z_hit,
		double	z_rand,
		double	sigma_hit,
		double	max_occ_dist
	)

Definition at line 72 of file amcl_laser.cpp.

bool AMCLLaser::UpdateSensor	(	pf_t *	pf,
		AMCLSensorData *	data
	)		[virtual]

Reimplemented from amcl::AMCLSensor.

Definition at line 89 of file amcl_laser.cpp.

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Member Data Documentation

double amcl::AMCLLaser::chi_outlier [private]

Definition at line 118 of file amcl_laser.h.

double amcl::AMCLLaser::lambda_short [private]

Definition at line 116 of file amcl_laser.h.

pf_vector_t amcl::AMCLLaser::laser_pose [private]

Definition at line 100 of file amcl_laser.h.

map_t* amcl::AMCLLaser::map [private]

Definition at line 97 of file amcl_laser.h.

int amcl::AMCLLaser::max_beams [private]

Definition at line 103 of file amcl_laser.h.

laser_model_t amcl::AMCLLaser::model_type [private]

Definition at line 91 of file amcl_laser.h.

double amcl::AMCLLaser::sigma_hit [private]

Definition at line 114 of file amcl_laser.h.

double amcl::AMCLLaser::time [private]

Definition at line 94 of file amcl_laser.h.

double amcl::AMCLLaser::z_hit [private]

Definition at line 108 of file amcl_laser.h.

double amcl::AMCLLaser::z_max [private]

Definition at line 110 of file amcl_laser.h.

double amcl::AMCLLaser::z_rand [private]

Definition at line 111 of file amcl_laser.h.

double amcl::AMCLLaser::z_short [private]

Definition at line 109 of file amcl_laser.h.

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

• amcl_laser.h
• amcl_laser.cpp