Public Member Functions | Protected Member Functions | Protected Attributes
humanoid_localization::RaycastingModel Class Reference

#include <RaycastingModel.h>

Inheritance diagram for humanoid_localization::RaycastingModel:
Inheritance graph
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List of all members.

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.

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

Definition at line 57 of file RaycastingModel.h.

Definition at line 59 of file RaycastingModel.h.

Definition at line 58 of file RaycastingModel.h.

Definition at line 60 of file RaycastingModel.h.

Definition at line 55 of file RaycastingModel.h.

Definition at line 61 of file RaycastingModel.h.

Definition at line 62 of file RaycastingModel.h.

Definition at line 54 of file RaycastingModel.h.

Definition at line 50 of file RaycastingModel.h.

Definition at line 53 of file RaycastingModel.h.

Definition at line 51 of file RaycastingModel.h.

Definition at line 52 of file RaycastingModel.h.


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


humanoid_localization
Author(s): Armin Hornung, Stefan Osswald, Daniel Maier
autogenerated on Sat Jun 8 2019 20:21:10