Struct Motion_Noise

Defined in File steering_functions.hpp

Struct Documentation

struct Motion_Noise

Parameters of the motion noise model according to the book: Probabilistic Robotics, S. Thrun and others, MIT Press, 2006, p. 127-128 and p.204-206.

Public Members

double alpha1: Variance in longitudinal direction: alpha1*delta_s*delta_s + alpha2*kappa*kappa

double alpha2

double alpha3: Variance in lateral direction: alpha3*delta_s*delta_s + alpha4*kappa*kappa.

double alpha4