GMapping::GridSlamProcessor::TNode Struct Reference

`#include <gridslamprocessor.h>`

## Public Member Functions | |

TNode (const OrientedPoint &pose, double weight, TNode *parent=0, unsigned int childs=0) | |

~TNode () | |

## Public Attributes | |

double | accWeight |

unsigned int | childs |

bool | flag |

double | gweight |

TNode * | parent |

OrientedPoint | pose |

const RangeReading * | reading |

unsigned int | visitCounter |

double | weight |

This class defines the the node of reversed tree in which the trajectories are stored. Each node of a tree has a pointer to its parent and a counter indicating the number of childs of a node. The tree is updated in a way consistent with the operation performed on the particles.

Definition at line 42 of file gridslamprocessor.h.

GMapping::GridSlamProcessor::TNode::TNode | ( | const OrientedPoint & | pose, |

double | weight, |
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TNode * | parent = `0` , |
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unsigned int | childs = `0` |
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) |

Constructs a node of the trajectory tree.

**Parameters:**-
pose,: the pose of the robot in the trajectory weight,: the weight of the particle at that point in the trajectory accWeight,: the cumulative weight of the particle parent,: the parent node in the tree childs,: the number of childs

Definition at line 16 of file gridslamprocessor_tree.cpp.

Destroys a tree node, and consistently updates the tree. If a node whose parent has only one child is deleted, also the parent node is deleted. This because the parent will not be reacheable anymore in the trajectory tree.

Definition at line 31 of file gridslamprocessor_tree.cpp.

The sum of all the particle weights in the previous part of the trajectory

Definition at line 63 of file gridslamprocessor.h.

unsigned int GMapping::GridSlamProcessor::TNode::childs |

The number of childs

Definition at line 75 of file gridslamprocessor.h.

bool GMapping::GridSlamProcessor::TNode::flag` [mutable]` |

visit flag (internally used)

Definition at line 81 of file gridslamprocessor.h.

Definition at line 65 of file gridslamprocessor.h.

The parent

Definition at line 69 of file gridslamprocessor.h.

The pose of the robot

Definition at line 57 of file gridslamprocessor.h.

The range reading to which this node is associated

Definition at line 72 of file gridslamprocessor.h.

unsigned int GMapping::GridSlamProcessor::TNode::visitCounter` [mutable]` |

counter in visiting the node (internally used)

Definition at line 78 of file gridslamprocessor.h.

The weight of the particle

Definition at line 60 of file gridslamprocessor.h.

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

openslam_gmapping

Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard

autogenerated on Fri Aug 28 2015 11:56:21

Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard

autogenerated on Fri Aug 28 2015 11:56:21