Struct CActionRobotMovement3D::TMotionModelOptions

• Defined in File CActionRobotMovement3D.h

Nested Relationships

This struct is a nested type of Class CActionRobotMovement3D.

Nested Types

• Struct TMotionModelOptions::TOptions_6DOFModel

Struct Documentation

struct TMotionModelOptions

The parameter to be passed to “computeFromOdometry”. See: ballardini2012effective

Public Functions

TMotionModelOptions() = default

Public Members

TDrawSampleMotionModel modelSelection = {mm6DOF}

The model to be used.

TOptions_6DOFModel mm6DOFModel

struct TOptions_6DOFModel

Public Members

uint32_t nParticlesCount = {300}

Options for the 6DOFModel model which generates a CPosePDFParticles object an then create from that CPosePDFGaussian object in poseChange

float a1 = {0}

float a2 = {0}

float a3 = {0}

float a4 = {0}

float a5 = {0}

float a6 = {0}

float a7 = {0}

float a8 = {0}

float a9 = {0}

float a10 = {0}

float additional_std_XYZ = {0.001f}

An additional noise added to the 6DOF model (std. dev. in meters and radians).

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