humanoid_localization::EndpointModel Class Reference

#include <EndpointModel.h>

Inheritance diagram for humanoid_localization::EndpointModel:

Public Member Functions
	EndpointModel (ros::NodeHandle *nh, boost::shared_ptr< MapModel > mapModel, EngineT *rngEngine)
virtual void	integrateMeasurement (Particles &particles, const PointCloud &pc, const std::vector< float > &ranges, float max_range, const tf::Transform &baseToSensor)
virtual void	setMap (boost::shared_ptr< octomap::OcTree > map)
virtual	~EndpointModel ()
Public Member Functions inherited from humanoid_localization::ObservationModel
virtual void	integratePoseMeasurement (Particles &particles, double roll, double pitch, const tf::StampedTransform &footprintToTorso)
	ObservationModel (ros::NodeHandle *nh, boost::shared_ptr< MapModel > mapModel, EngineT *rngEngine)
virtual	~ObservationModel ()

Protected Member Functions
bool	getHeightError (const Particle &p, const tf::StampedTransform &footprintToBase, double &heightError) const
void	initDistanceMap ()

Protected Attributes
boost::shared_ptr< DynamicEDTOctomap >	m_distanceMap
double	m_maxObstacleDistance
double	m_sigma
Protected Attributes inherited from humanoid_localization::ObservationModel
boost::shared_ptr< octomap::OcTree >	m_map
boost::shared_ptr< MapModel >	m_mapModel
ros::Publisher	m_pc_pub
EngineT	m_rngEngine
NormalGeneratorT	m_rngNormal
UniformGeneratorT	m_rngUniform
double	m_sigmaPitch
double	m_sigmaRoll
double	m_sigmaZ
bool	m_use_squared_error
double	m_weightPitch
double	m_weightRoll
double	m_weightZ

Additional Inherited Members
Static Public Member Functions inherited from humanoid_localization::ObservationModel
static double	logLikelihood (double x, double sigma)
	Helper function to compute the log likelihood. More...
static double	logLikelihoodSq (double x_sq, double sigma)
	Helper function to compute the log likelihood based on sqared distances. More...

Detailed Description

Definition at line 42 of file EndpointModel.h.

Constructor & Destructor Documentation

humanoid_localization::EndpointModel::EndpointModel	(	ros::NodeHandle *	nh,
		boost::shared_ptr< MapModel >	mapModel,
		EngineT *	rngEngine
	)

Definition at line 28 of file EndpointModel.cpp.

humanoid_localization::EndpointModel::~EndpointModel ( )

virtual

Definition at line 45 of file EndpointModel.cpp.

Member Function Documentation

bool humanoid_localization::EndpointModel::getHeightError ( const Particle &  p, const tf::StampedTransform &  footprintToBase, double &  heightError  ) const

protectedvirtual

Implements humanoid_localization::ObservationModel.

Definition at line 80 of file EndpointModel.cpp.

void humanoid_localization::EndpointModel::initDistanceMap ( )

protected

Definition at line 107 of file EndpointModel.cpp.

void humanoid_localization::EndpointModel::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 49 of file EndpointModel.cpp.

void humanoid_localization::EndpointModel::setMap ( boost::shared_ptr< octomap::OcTree >  map )

virtual

Reimplemented from humanoid_localization::ObservationModel.

Definition at line 102 of file EndpointModel.cpp.

Member Data Documentation

boost::shared_ptr<DynamicEDTOctomap> humanoid_localization::EndpointModel::m_distanceMap

protected

Definition at line 55 of file EndpointModel.h.

double humanoid_localization::EndpointModel::m_maxObstacleDistance

protected

Definition at line 54 of file EndpointModel.h.

double humanoid_localization::EndpointModel::m_sigma

protected

Definition at line 53 of file EndpointModel.h.

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

• EndpointModel.h
• EndpointModel.cpp