Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
NDTMCL3D Class Reference

#include <3d_ndt_mcl.h>

List of all members.

Public Member Functions

Eigen::Affine3d getMean ()
Eigen::Vector3d getMeanVector ()
void initializeFilter (double x, double y, double z, double roll, double pitch, double yaw, double x_e, double y_e, double z_e, double roll_e, double pitch_e, double yaw_e, unsigned int numParticles)
 NDTMCL3D (double map_resolution, lslgeneric::NDTMap &nd_map, double zfilter)
void updateAndPredict (Eigen::Affine3d Tmotion, pcl::PointCloud< pcl::PointXYZ > &cloud)
void updateAndPredictEff (Eigen::Affine3d Tmotion, pcl::PointCloud< pcl::PointXYZ > &cloud, double subsample_level)

Public Attributes

int counter
bool forceSIR
lslgeneric::NDTMap map
 This is my map.
ParticleFilter3D pf
 This is the particle filter.
double resolution
double resolution_sensor
double zfilt_min

Private Member Functions

double getDoubleTime ()

Private Attributes

bool isInit
int sinceSIR

Detailed Description

NDT MCL - Class implementation

Definition at line 21 of file 3d_ndt_mcl.h.

Constructor & Destructor Documentation

NDTMCL3D::NDTMCL3D ( double  map_resolution,
lslgeneric::NDTMap nd_map,
double  zfilter 
) [inline]


First, lets make our target map match the given map This is done because we want (possibly) lower resolution target map

Definition at line 33 of file 3d_ndt_mcl.h.

Member Function Documentation

double NDTMCL3D::getDoubleTime ( ) [inline, private]

Definition at line 109 of file 3d_ndt_mcl.h.

Eigen::Affine3d NDTMCL3D::getMean ( ) [inline]

Definition at line 98 of file 3d_ndt_mcl.h.

Eigen::Vector3d NDTMCL3D::getMeanVector ( ) [inline]

Definition at line 92 of file 3d_ndt_mcl.h.

void NDTMCL3D::initializeFilter ( double  x,
double  y,
double  z,
double  roll,
double  pitch,
double  yaw,
double  x_e,
double  y_e,
double  z_e,
double  roll_e,
double  pitch_e,
double  yaw_e,
unsigned int  numParticles 
) [inline]

Intialize filter to some pose and with some number of particles

Definition at line 82 of file 3d_ndt_mcl.h.

void NDTMCL3D::updateAndPredict ( Eigen::Affine3d  Tmotion,
pcl::PointCloud< pcl::PointXYZ > &  cloud 

Definition at line 3 of file 3d_ndt_mcl.cpp.

void NDTMCL3D::updateAndPredictEff ( Eigen::Affine3d  Tmotion,
pcl::PointCloud< pcl::PointXYZ > &  cloud,
double  subsample_level 


Definition at line 94 of file 3d_ndt_mcl.cpp.

Member Data Documentation

Definition at line 27 of file 3d_ndt_mcl.h.

Definition at line 29 of file 3d_ndt_mcl.h.

bool NDTMCL3D::isInit [private]

Definition at line 107 of file 3d_ndt_mcl.h.

This is my map.

Definition at line 23 of file 3d_ndt_mcl.h.

This is the particle filter.

Definition at line 24 of file 3d_ndt_mcl.h.

Definition at line 25 of file 3d_ndt_mcl.h.

Definition at line 26 of file 3d_ndt_mcl.h.

int NDTMCL3D::sinceSIR [private]

Definition at line 108 of file 3d_ndt_mcl.h.

Definition at line 28 of file 3d_ndt_mcl.h.

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

Author(s): Jari Saarinen
autogenerated on Wed Aug 26 2015 15:25:02