Struct CActionRobotMovement2D::TMotionModelOptions

Nested Relationships

This struct is a nested type of Class CActionRobotMovement2D.

Nested Types

Struct Documentation

struct TMotionModelOptions

The parameter to be passed to “computeFromOdometry”.

Public Functions

TMotionModelOptions() = default

Default values loader.

Public Members

TDrawSampleMotionModel modelSelection = {mmGaussian}

The model to be used.

TOptions_GaussianModel gaussianModel
TOptions_ThrunModel thrunModel
struct TOptions_GaussianModel

Options for the gaussian model, which generates a CPosePDFGaussian object in poseChange using a closed-form linear Gaussian model. See docs in: https://docs.mrpt.org/reference/latest/tutorial-motion-models.html

Public Functions

TOptions_GaussianModel() = default
inline TOptions_GaussianModel(double a1_, double a2_, double a3_, double a4_, double minStdXY_, double minStdPHI_)

Public Members

double a1 = {0.01}

Ratio of uncertainty: [meter/meter]

double a2 = {mrpt::RAD2DEG(0.001)}

Ratio of uncertainty: [meter/degree]

double a3 = {mrpt::DEG2RAD(1.0)}

Ratio of uncertainty: [degree/meter]

double a4 = {0.05}

Ratio of uncertainty: [degree/degree]

double minStdXY = {0.01}

Additional uncertainty: [meters]

double minStdPHI = {mrpt::DEG2RAD(0.2)}

Additional uncertainty: [degrees]

struct TOptions_ThrunModel

Options for the Thrun’s model, which generates a CPosePDFParticles object in poseChange using a MonteCarlo simulation. See docs in: https://docs.mrpt.org/reference/latest/tutorial-motion-models.html

Public Members

uint32_t nParticlesCount = {300}

The default number of particles to generate in a internal representation (anyway you can draw as many samples as you want through CActionRobotMovement2D::drawSingleSample)

float alfa1_rot_rot = {0.05f}
float alfa2_rot_trans = {mrpt::DEG2RAD(4.0f)}
float alfa3_trans_trans = {0.01f}
float alfa4_trans_rot = {mrpt::RAD2DEG(0.0001f)}
float additional_std_XY = {0.001f}

An additional noise added to the thrun model (std. dev. in meters and radians).

float additional_std_phi = {mrpt::DEG2RAD(0.05f)}