Struct AmclParams

Struct Documentation

struct AmclParams

Struct containing parameters for the Adaptive Monte Carlo Localization (AMCL) implementation.

Public Members

double update_min_d = 0.25

Translational movement required from last resample for resampling to happen again.

double update_min_a = 0.2

Rotational movement required from last resample for resampling to happen again.

std::size_t resample_interval = 1UL

Number of filter updates required before resampling.

bool selective_resampling = false

Whether to enable selective resampling grisetti2007selectiveresampling to help avoid loss of diversity in the particle population. The resampling step will only happen if the effective number of particles ( \(N_{eff} = 1/ {\sum w_i^2}\)) is lower than half the current number of particles, where \(w_i\) refers to the normalized weight of each particle.

std::size_t min_particles = 500UL

Minimum allowed number of particles.

std::size_t max_particles = 2000UL

Maximum allowed number of particles.

double alpha_slow = 0.001

Exponential decay rate for the slow average weight filter, used in deciding when to recover from a bad approximation by adding random poses thrun2005probabilistic .

double alpha_fast = 0.1

Exponential decay rate for the fast average weight filter, used in deciding when to recover from a bad approximation by adding random poses thrun2005probabilistic .

double kld_epsilon = 0.05

Maximum particle filter population error between the true distribution and the estimated distribution. It is used in KLD resampling fox2001adaptivekldsampling to limit the allowed number of particles to the minimum necessary.

double kld_z = 3.0

Upper standard normal quantile for \(P\), where \(P\) is the probability that the error in the estimated distribution will be less than kld_epsilon in KLD resampling fox2001adaptivekldsampling .

double spatial_resolution_x = 0.5

Spatial resolution along the x-axis to create buckets for KLD resampling.

double spatial_resolution_y = 0.5

Spatial resolution along the y-axis to create buckets for KLD resampling.

double spatial_resolution_theta = 10 * Sophus::Constants<double>::pi() / 180

Spatial resolution around the z-axis to create buckets for KLD resampling.