#include <RaycastingModel.h>

Inheritance diagram for humanoid_localization::RaycastingModel:

Public Member Functions
virtual void	integrateMeasurement (Particles &particles, const PointCloud &pc, const std::vector< float > &ranges, float max_range, const tf::Transform &baseToSensor)

	RaycastingModel (ros::NodeHandle nh, boost::shared_ptr< MapModel > mapModel, EngineT rngEngine)

virtual	~RaycastingModel ()

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

virtual	~ObservationModel ()

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

Protected Attributes
bool	m_filterPointCloudGround

double	m_groundFilterAngle

double	m_groundFilterDistance

double	m_groundFilterPlaneDistance

double	m_lambdaShort

int	m_numFloorPoints

int	m_numNonFloorPoints

double	m_sigmaHit

double	m_zHit

double	m_zMax

double	m_zRand

double	m_zShort

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 41 of file RaycastingModel.h.

Constructor & Destructor Documentation

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

Definition at line 30 of file RaycastingModel.cpp.

humanoid_localization::RaycastingModel::~RaycastingModel ( )

virtual

Definition at line 57 of file RaycastingModel.cpp.

Member Function Documentation

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

protectedvirtual

Implements humanoid_localization::ObservationModel.

Definition at line 136 of file RaycastingModel.cpp.

void humanoid_localization::RaycastingModel::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 61 of file RaycastingModel.cpp.

Member Data Documentation

bool humanoid_localization::RaycastingModel::m_filterPointCloudGround

protected

Definition at line 57 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_groundFilterAngle

protected

Definition at line 59 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_groundFilterDistance

protected

Definition at line 58 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_groundFilterPlaneDistance

protected

Definition at line 60 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_lambdaShort

protected

Definition at line 55 of file RaycastingModel.h.

int humanoid_localization::RaycastingModel::m_numFloorPoints

protected

Definition at line 61 of file RaycastingModel.h.

int humanoid_localization::RaycastingModel::m_numNonFloorPoints

protected

Definition at line 62 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_sigmaHit

protected

Definition at line 54 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_zHit

protected

Definition at line 50 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_zMax

protected

Definition at line 53 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_zRand

protected

Definition at line 51 of file RaycastingModel.h.

double humanoid_localization::RaycastingModel::m_zShort

protected

Definition at line 52 of file RaycastingModel.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation