Inheritance diagram for humanoid_localization::ObservationModel:

Public Member Functions
virtual void	integrateMeasurement (Particles &particles, const PointCloud &pc, const std::vector< float > &ranges, float max_range, const tf::Transform &baseToSensor)=0
virtual void	integratePoseMeasurement (Particles &particles, double roll, double pitch, const tf::StampedTransform &footprintToTorso)
	ObservationModel (ros::NodeHandle nh, boost::shared_ptr< MapModel > mapModel, EngineT rngEngine)
virtual void	setMap (boost::shared_ptr< octomap::OcTree > map)
virtual	~ObservationModel ()
Static Public Member Functions
static double	logLikelihood (double x, double sigma)
	Helper function to compute the log likelihood.
static double	logLikelihoodSq (double x_sq, double sigma)
	Helper function to compute the log likelihood based on sqared distances.
Protected Member Functions
virtual bool	getHeightError (const Particle &p, const tf::StampedTransform &footprintToBase, double &heightError) const =0
Protected Attributes
boost::shared_ptr < octomap::OcTree >	m_map
boost::shared_ptr< MapModel >	m_mapModel
ros::Publisher	m_pc_pub
EngineT	m_rngEngine
NormalGeneratorT	m_rngNormal
UniformGeneratorT	m_rngUniform
double	m_sigmaPitch
double	m_sigmaRoll
double	m_sigmaZ
bool	m_use_squared_error
double	m_weightPitch
double	m_weightRoll
double	m_weightZ

Detailed Description

Definition at line 51 of file ObservationModel.h.

Constructor & Destructor Documentation

humanoid_localization::ObservationModel::ObservationModel	(	ros::NodeHandle *	nh,
		boost::shared_ptr< MapModel >	mapModel,
		EngineT *	rngEngine
	)

Definition at line 31 of file ObservationModel.cpp.

humanoid_localization::ObservationModel::~ObservationModel ( ) [virtual]

Definition at line 55 of file ObservationModel.cpp.

virtual bool humanoid_localization::ObservationModel::getHeightError	(	const Particle &	p,
		const tf::StampedTransform &	footprintToBase,
		double &	heightError
	)		const `[protected, pure virtual]`

virtual void humanoid_localization::ObservationModel::integrateMeasurement	(	Particles &	particles,
		const PointCloud &	pc,
		const std::vector< float > &	ranges,
		float	max_range,
		const tf::Transform &	baseToSensor
	)		`[pure virtual]`

Integrate a measurement in particle set, update weights accordingly Particle weights should be in log scale before, weights are added.

void humanoid_localization::ObservationModel::integratePoseMeasurement	(	Particles &	particles,
		double	roll,
		double	pitch,
		const tf::StampedTransform &	footprintToTorso
	)		`[virtual]`