Template Function beluga_ros::assign_particle_cloud(Particles&&, Scalar, Scalar, beluga_ros::msg::MarkerArray&)

Function Documentation

template<class Particles, class Particle = ranges::range_value_t<Particles>, class State = typename beluga::state_t<Particle>, class Weight = typename beluga::weight_t<Particle>, class Scalar = typename State::Scalar, typename = std::enable_if_t<std::is_same_v<State, typename Sophus::SE2<Scalar>> || std::is_same_v<State, typename Sophus::SE3<Scalar>>>>
beluga_ros::msg::MarkerArray &beluga_ros::assign_particle_cloud(Particles &&particles, Scalar linear_resolution, Scalar angular_resolution, beluga_ros::msg::MarkerArray &message)

Assign a pose distribution to a markers message for visualization.

Parameters:

  • particles – Pose distribution, as a particle cloud itself.

  • linear_resolution – Linear resolution, in meters, for visualization.

  • angular_resolution – Angular resolution, in radians, for visualization.

  • message – [out] Markers message to be assigned.

Template Parameters:

Particles – A sized range type whose value type satisfies Particle named requirements.