Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes
amcl::AMCLLaser Class Reference

#include <amcl_laser.h>

Inheritance diagram for amcl::AMCLLaser:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 AMCLLaser (size_t max_beams, map_t *map)
void SetLaserPose (pf_vector_t &laser_pose)
void SetModelBeam (double z_hit, double z_short, double z_max, double z_rand, double sigma_hit, double labda_short, double chi_outlier)
void SetModelLikelihoodField (double z_hit, double z_rand, double sigma_hit, double max_occ_dist)
void SetModelLikelihoodFieldProb (double z_hit, double z_rand, double sigma_hit, double max_occ_dist, bool do_beamskip, double beam_skip_distance, double beam_skip_threshold, double beam_skip_error_threshold)
virtual bool UpdateSensor (pf_t *pf, AMCLSensorData *data)
virtual ~AMCLLaser ()

Private Member Functions

void reallocTempData (int max_samples, int max_obs)

Static Private Member Functions

static double BeamModel (AMCLLaserData *data, pf_sample_set_t *set)
static double LikelihoodFieldModel (AMCLLaserData *data, pf_sample_set_t *set)
static double LikelihoodFieldModelProb (AMCLLaserData *data, pf_sample_set_t *set)

Private Attributes

double beam_skip_distance
double beam_skip_error_threshold
double beam_skip_threshold
double chi_outlier
bool do_beamskip
double lambda_short
pf_vector_t laser_pose
map_tmap
int max_beams
int max_obs
int max_samples
laser_model_t model_type
double sigma_hit
double ** temp_obs
double time
double z_hit
double z_max
double z_rand
double z_short

Detailed Description

Definition at line 59 of file amcl_laser.h.


Constructor & Destructor Documentation

AMCLLaser::AMCLLaser ( size_t  max_beams,
map_t map 
)

Definition at line 42 of file amcl_laser.cpp.

AMCLLaser::~AMCLLaser ( ) [virtual]

Definition at line 54 of file amcl_laser.cpp.


Member Function Documentation

double AMCLLaser::BeamModel ( AMCLLaserData data,
pf_sample_set_t set 
) [static, private]

Definition at line 142 of file amcl_laser.cpp.

double AMCLLaser::LikelihoodFieldModel ( AMCLLaserData data,
pf_sample_set_t set 
) [static, private]

Definition at line 213 of file amcl_laser.cpp.

double AMCLLaser::LikelihoodFieldModelProb ( AMCLLaserData data,
pf_sample_set_t set 
) [static, private]

Definition at line 303 of file amcl_laser.cpp.

void AMCLLaser::reallocTempData ( int  max_samples,
int  max_obs 
) [private]

Definition at line 494 of file amcl_laser.cpp.

void amcl::AMCLLaser::SetLaserPose ( pf_vector_t laser_pose) [inline]

Definition at line 94 of file amcl_laser.h.

void AMCLLaser::SetModelBeam ( double  z_hit,
double  z_short,
double  z_max,
double  z_rand,
double  sigma_hit,
double  labda_short,
double  chi_outlier 
)

Definition at line 65 of file amcl_laser.cpp.

void AMCLLaser::SetModelLikelihoodField ( double  z_hit,
double  z_rand,
double  sigma_hit,
double  max_occ_dist 
)

Definition at line 84 of file amcl_laser.cpp.

void AMCLLaser::SetModelLikelihoodFieldProb ( double  z_hit,
double  z_rand,
double  sigma_hit,
double  max_occ_dist,
bool  do_beamskip,
double  beam_skip_distance,
double  beam_skip_threshold,
double  beam_skip_error_threshold 
)

Definition at line 98 of file amcl_laser.cpp.

bool AMCLLaser::UpdateSensor ( pf_t pf,
AMCLSensorData data 
) [virtual]

Reimplemented from amcl::AMCLSensor.

Definition at line 121 of file amcl_laser.cpp.


Member Data Documentation

Definition at line 126 of file amcl_laser.h.

Definition at line 130 of file amcl_laser.h.

Definition at line 127 of file amcl_laser.h.

double amcl::AMCLLaser::chi_outlier [private]

Definition at line 150 of file amcl_laser.h.

Definition at line 125 of file amcl_laser.h.

Definition at line 148 of file amcl_laser.h.

Definition at line 119 of file amcl_laser.h.

Definition at line 116 of file amcl_laser.h.

Definition at line 122 of file amcl_laser.h.

int amcl::AMCLLaser::max_obs [private]

Definition at line 134 of file amcl_laser.h.

Definition at line 133 of file amcl_laser.h.

Definition at line 110 of file amcl_laser.h.

double amcl::AMCLLaser::sigma_hit [private]

Definition at line 146 of file amcl_laser.h.

double** amcl::AMCLLaser::temp_obs [private]

Definition at line 135 of file amcl_laser.h.

double amcl::AMCLLaser::time [private]

Definition at line 113 of file amcl_laser.h.

double amcl::AMCLLaser::z_hit [private]

Definition at line 140 of file amcl_laser.h.

double amcl::AMCLLaser::z_max [private]

Definition at line 142 of file amcl_laser.h.

double amcl::AMCLLaser::z_rand [private]

Definition at line 143 of file amcl_laser.h.

double amcl::AMCLLaser::z_short [private]

Definition at line 141 of file amcl_laser.h.


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


amcl
Author(s): Brian P. Gerkey, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:02