GMapping::GridSlamProcessor::Particle Struct Reference

`#include <gridslamprocessor.h>`

## Public Member Functions | |

operator double () const | |

operator OrientedPoint () const | |

Particle (const ScanMatcherMap &map) | |

void | setWeight (double w) |

## Public Attributes | |

double | gweight |

ScanMatcherMap | map |

TNode * | node |

OrientedPoint | pose |

int | previousIndex |

OrientedPoint | previousPose |

double | weight |

double | weightSum |

This class defines a particle of the filter. Each particle has a map, a pose, a weight and retains the current node in the trajectory tree

Definition at line 88 of file gridslamprocessor.h.

GMapping::GridSlamProcessor::Particle::Particle | ( | const ScanMatcherMap & | map | ) |

constructs a particle, given a map

**Parameters:**-
map,: the particle map

Definition at line 236 of file gridslamprocessor.cpp.

GMapping::GridSlamProcessor::Particle::operator double | ( | ) | const` [inline]` |

**Returns:**- the weight of a particle

Definition at line 95 of file gridslamprocessor.h.

GMapping::GridSlamProcessor::Particle::operator OrientedPoint | ( | ) | const` [inline]` |

**Returns:**- the pose of a particle

Definition at line 97 of file gridslamprocessor.h.

void GMapping::GridSlamProcessor::Particle::setWeight | ( | double | w | ) | ` [inline]` |

sets the weight of a particle

**Parameters:**-
w the weight

Definition at line 101 of file gridslamprocessor.h.

Definition at line 116 of file gridslamprocessor.h.

The map

Definition at line 103 of file gridslamprocessor.h.

Entry to the trajectory tree

Definition at line 122 of file gridslamprocessor.h.

The pose of the robot

Definition at line 105 of file gridslamprocessor.h.

The index of the previous particle in the trajectory tree

Definition at line 119 of file gridslamprocessor.h.

The pose of the robot at the previous time frame (used for computing thr odometry displacements)

Definition at line 108 of file gridslamprocessor.h.

The weight of the particle

Definition at line 111 of file gridslamprocessor.h.

The cumulative weight of the particle

Definition at line 114 of file gridslamprocessor.h.

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

openslam_gmapping

Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard

autogenerated on Thu Jun 6 2019 19:25:13

Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard

autogenerated on Thu Jun 6 2019 19:25:13