Public Member Functions | Public Attributes
GMapping::GridSlamProcessor::TNode Struct Reference

#include <gridslamprocessor.h>

List of all members.

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
OrientedPoint pose
const RangeReadingreading
unsigned int visitCounter
double weight

Detailed Description

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.

Constructor & Destructor Documentation

GMapping::GridSlamProcessor::TNode::TNode ( const OrientedPoint pose,
double  weight,
TNode parent = 0,
unsigned int  childs = 0 

Constructs a node of the trajectory tree.

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.

Member Data Documentation

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

Definition at line 63 of file gridslamprocessor.h.

The number of childs

Definition at line 75 of file gridslamprocessor.h.

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.

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:

Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
autogenerated on Fri Aug 28 2015 11:56:21