Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
amcl::AMCLLaser Class Reference

#include <amcl_laser.h>

Inheritance diagram for amcl::AMCLLaser:
Inheritance graph
[legend]

Public Member Functions

 AMCLLaser (size_t max_beams, map_t *map)
 
void SetLaserPose (pf_vector_t &laser_pose)
 
void SetModelBeam (double z_hit, double z_short, double z_max, double z_rand, double sigma_hit, double labda_short, double chi_outlier)
 
void SetModelLikelihoodField (double z_hit, double z_rand, double sigma_hit, double max_occ_dist)
 
void SetModelLikelihoodFieldProb (double z_hit, double z_rand, double sigma_hit, double max_occ_dist, bool do_beamskip, double beam_skip_distance, double beam_skip_threshold, double beam_skip_error_threshold)
 
virtual bool UpdateSensor (pf_t *pf, AMCLSensorData *data)
 
virtual ~AMCLLaser ()
 
- Public Member Functions inherited from amcl::AMCLSensor
 AMCLSensor ()
 
virtual bool InitSensor (pf_t *pf, AMCLSensorData *data)
 
virtual bool UpdateAction (pf_t *pf, AMCLSensorData *data)
 
virtual ~AMCLSensor ()
 

Private Member Functions

void reallocTempData (int max_samples, int max_obs)
 

Static Private Member Functions

static double BeamModel (AMCLLaserData *data, pf_sample_set_t *set)
 
static double LikelihoodFieldModel (AMCLLaserData *data, pf_sample_set_t *set)
 
static double LikelihoodFieldModelProb (AMCLLaserData *data, pf_sample_set_t *set)
 

Private Attributes

double beam_skip_distance
 
double beam_skip_error_threshold
 
double beam_skip_threshold
 
double chi_outlier
 
bool do_beamskip
 
double lambda_short
 
pf_vector_t laser_pose
 
map_tmap
 
int max_beams
 
int max_obs
 
int max_samples
 
laser_model_t model_type
 
double sigma_hit
 
double ** temp_obs
 
double time
 
double z_hit
 
double z_max
 
double z_rand
 
double z_short
 

Additional Inherited Members

- Public Attributes inherited from amcl::AMCLSensor
bool is_action
 
pf_vector_t pose
 

Detailed Description

Definition at line 59 of file amcl_laser.h.

Constructor & Destructor Documentation

AMCLLaser::AMCLLaser ( size_t  max_beams,
map_t map 
)

Definition at line 42 of file amcl_laser.cpp.

AMCLLaser::~AMCLLaser ( )
virtual

Definition at line 54 of file amcl_laser.cpp.

Member Function Documentation

double AMCLLaser::BeamModel ( AMCLLaserData data,
pf_sample_set_t set 
)
staticprivate

Definition at line 142 of file amcl_laser.cpp.

double AMCLLaser::LikelihoodFieldModel ( AMCLLaserData data,
pf_sample_set_t set 
)
staticprivate

Definition at line 213 of file amcl_laser.cpp.

double AMCLLaser::LikelihoodFieldModelProb ( AMCLLaserData data,
pf_sample_set_t set 
)
staticprivate

Definition at line 303 of file amcl_laser.cpp.

void AMCLLaser::reallocTempData ( int  max_samples,
int  max_obs 
)
private

Definition at line 494 of file amcl_laser.cpp.

void amcl::AMCLLaser::SetLaserPose ( pf_vector_t laser_pose)
inline

Definition at line 94 of file amcl_laser.h.

void AMCLLaser::SetModelBeam ( double  z_hit,
double  z_short,
double  z_max,
double  z_rand,
double  sigma_hit,
double  labda_short,
double  chi_outlier 
)

Definition at line 65 of file amcl_laser.cpp.

void AMCLLaser::SetModelLikelihoodField ( double  z_hit,
double  z_rand,
double  sigma_hit,
double  max_occ_dist 
)

Definition at line 84 of file amcl_laser.cpp.

void AMCLLaser::SetModelLikelihoodFieldProb ( double  z_hit,
double  z_rand,
double  sigma_hit,
double  max_occ_dist,
bool  do_beamskip,
double  beam_skip_distance,
double  beam_skip_threshold,
double  beam_skip_error_threshold 
)

Definition at line 98 of file amcl_laser.cpp.

bool AMCLLaser::UpdateSensor ( pf_t pf,
AMCLSensorData data 
)
virtual

Reimplemented from amcl::AMCLSensor.

Definition at line 121 of file amcl_laser.cpp.

Member Data Documentation

double amcl::AMCLLaser::beam_skip_distance
private

Definition at line 126 of file amcl_laser.h.

double amcl::AMCLLaser::beam_skip_error_threshold
private

Definition at line 130 of file amcl_laser.h.

double amcl::AMCLLaser::beam_skip_threshold
private

Definition at line 127 of file amcl_laser.h.

double amcl::AMCLLaser::chi_outlier
private

Definition at line 150 of file amcl_laser.h.

bool amcl::AMCLLaser::do_beamskip
private

Definition at line 125 of file amcl_laser.h.

double amcl::AMCLLaser::lambda_short
private

Definition at line 148 of file amcl_laser.h.

pf_vector_t amcl::AMCLLaser::laser_pose
private

Definition at line 119 of file amcl_laser.h.

map_t* amcl::AMCLLaser::map
private

Definition at line 116 of file amcl_laser.h.

int amcl::AMCLLaser::max_beams
private

Definition at line 122 of file amcl_laser.h.

int amcl::AMCLLaser::max_obs
private

Definition at line 134 of file amcl_laser.h.

int amcl::AMCLLaser::max_samples
private

Definition at line 133 of file amcl_laser.h.

laser_model_t amcl::AMCLLaser::model_type
private

Definition at line 110 of file amcl_laser.h.

double amcl::AMCLLaser::sigma_hit
private

Definition at line 146 of file amcl_laser.h.

double** amcl::AMCLLaser::temp_obs
private

Definition at line 135 of file amcl_laser.h.

double amcl::AMCLLaser::time
private

Definition at line 113 of file amcl_laser.h.

double amcl::AMCLLaser::z_hit
private

Definition at line 140 of file amcl_laser.h.

double amcl::AMCLLaser::z_max
private

Definition at line 142 of file amcl_laser.h.

double amcl::AMCLLaser::z_rand
private

Definition at line 143 of file amcl_laser.h.

double amcl::AMCLLaser::z_short
private

Definition at line 141 of file amcl_laser.h.


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


amcl
Author(s): Brian P. Gerkey, contradict@gmail.com
autogenerated on Thu Jan 21 2021 04:05:36