amcl::AMCLLaser Class Reference

#include <amcl_laser.h>

Inheritance diagram for amcl::AMCLLaser:

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_t *	map
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

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Detailed Description

Definition at line 59 of file amcl_laser.h.

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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.

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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.

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Member Data Documentation

double amcl::AMCLLaser::beam_skip_distance [private]

Definition at line 126 of file amcl_laser.h.

double amcl::AMCLLaser::beam_skip_error_threshold [private]

Definition at line 130 of file amcl_laser.h.

double amcl::AMCLLaser::beam_skip_threshold [private]

Definition at line 127 of file amcl_laser.h.

double amcl::AMCLLaser::chi_outlier [private]

Definition at line 150 of file amcl_laser.h.

bool amcl::AMCLLaser::do_beamskip [private]

Definition at line 125 of file amcl_laser.h.

double amcl::AMCLLaser::lambda_short [private]

Definition at line 148 of file amcl_laser.h.

pf_vector_t amcl::AMCLLaser::laser_pose [private]

Definition at line 119 of file amcl_laser.h.

map_t* amcl::AMCLLaser::map [private]

Definition at line 116 of file amcl_laser.h.

int amcl::AMCLLaser::max_beams [private]

Definition at line 122 of file amcl_laser.h.

int amcl::AMCLLaser::max_obs [private]

Definition at line 134 of file amcl_laser.h.

int amcl::AMCLLaser::max_samples [private]

Definition at line 133 of file amcl_laser.h.

laser_model_t amcl::AMCLLaser::model_type [private]

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.

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

• amcl_laser.h
• amcl_laser.cpp