#include <RaycastingModel.h>
Public Member Functions | |
| virtual void | integrateMeasurement (Particles &particles, const PointCloud &pc, const std::vector< float > &ranges, float max_range, const tf::Transform &baseToSensor) |
| RaycastingModel (ros::NodeHandle *nh, boost::shared_ptr< MapModel > mapModel, EngineT *rngEngine) | |
| virtual | ~RaycastingModel () |
Protected Member Functions | |
| bool | getHeightError (const Particle &p, const tf::StampedTransform &footprintToBase, double &heightError) const |
Protected Attributes | |
| bool | m_filterPointCloudGround |
| double | m_groundFilterAngle |
| double | m_groundFilterDistance |
| double | m_groundFilterPlaneDistance |
| double | m_lambdaShort |
| int | m_numFloorPoints |
| int | m_numNonFloorPoints |
| double | m_sigmaHit |
| double | m_zHit |
| double | m_zMax |
| double | m_zRand |
| double | m_zShort |
Detailed Description
Definition at line 41 of file RaycastingModel.h.
Constructor & Destructor Documentation
| humanoid_localization::RaycastingModel::RaycastingModel | ( | ros::NodeHandle * | nh, |
| boost::shared_ptr< MapModel > | mapModel, | ||
| EngineT * | rngEngine | ||
| ) |
Definition at line 30 of file RaycastingModel.cpp.
| humanoid_localization::RaycastingModel::~RaycastingModel | ( | ) | [virtual] |
Definition at line 57 of file RaycastingModel.cpp.
Member Function Documentation
| bool humanoid_localization::RaycastingModel::getHeightError | ( | const Particle & | p, |
| const tf::StampedTransform & | footprintToBase, | ||
| double & | heightError | ||
| ) | const [protected, virtual] |
Implements humanoid_localization::ObservationModel.
Definition at line 136 of file RaycastingModel.cpp.
| void humanoid_localization::RaycastingModel::integrateMeasurement | ( | Particles & | particles, |
| const PointCloud & | pc, | ||
| const std::vector< float > & | ranges, | ||
| float | max_range, | ||
| const tf::Transform & | baseToSensor | ||
| ) | [virtual] |
Integrate a measurement in particle set, update weights accordingly Particle weights should be in log scale before, weights are added.
Implements humanoid_localization::ObservationModel.
Definition at line 61 of file RaycastingModel.cpp.
Member Data Documentation
bool humanoid_localization::RaycastingModel::m_filterPointCloudGround [protected] |
Definition at line 57 of file RaycastingModel.h.
double humanoid_localization::RaycastingModel::m_groundFilterAngle [protected] |
Definition at line 59 of file RaycastingModel.h.
double humanoid_localization::RaycastingModel::m_groundFilterDistance [protected] |
Definition at line 58 of file RaycastingModel.h.
double humanoid_localization::RaycastingModel::m_groundFilterPlaneDistance [protected] |
Definition at line 60 of file RaycastingModel.h.
double humanoid_localization::RaycastingModel::m_lambdaShort [protected] |
Definition at line 55 of file RaycastingModel.h.
int humanoid_localization::RaycastingModel::m_numFloorPoints [protected] |
Definition at line 61 of file RaycastingModel.h.
int humanoid_localization::RaycastingModel::m_numNonFloorPoints [protected] |
Definition at line 62 of file RaycastingModel.h.
double humanoid_localization::RaycastingModel::m_sigmaHit [protected] |
Definition at line 54 of file RaycastingModel.h.
double humanoid_localization::RaycastingModel::m_zHit [protected] |
Definition at line 50 of file RaycastingModel.h.
double humanoid_localization::RaycastingModel::m_zMax [protected] |
Definition at line 53 of file RaycastingModel.h.
double humanoid_localization::RaycastingModel::m_zRand [protected] |
Definition at line 51 of file RaycastingModel.h.
double humanoid_localization::RaycastingModel::m_zShort [protected] |
Definition at line 52 of file RaycastingModel.h.
The documentation for this class was generated from the following files: