mcl_3dl::LidarMeasurementModelBase Class Reference

#include <lidar_measurement_model_base.h>

Inheritance diagram for mcl_3dl::LidarMeasurementModelBase:

Public Types
using	PointType = mcl_3dl::PointXYZIL
using	Ptr = std::shared_ptr< LidarMeasurementModelBase >
using	SamplerType = PointCloudRandomSampler< PointType >

Public Member Functions
virtual pcl::PointCloud< PointType >::Ptr	filter (const pcl::PointCloud< PointType >::ConstPtr &) const =0
virtual float	getMaxSearchRange () const =0
std::shared_ptr< SamplerType >	getRandomSampler ()
	LidarMeasurementModelBase ()
virtual void	loadConfig (const ros::NodeHandle &nh, const std::string &name)=0
virtual LidarMeasurementResult	measure (ChunkedKdtree< PointType >::Ptr &, const pcl::PointCloud< PointType >::ConstPtr &, const std::vector< Vec3 > &, const State6DOF &) const =0
virtual void	setGlobalLocalizationStatus (const size_t, const size_t)=0
void	setRandomSampler (const std::shared_ptr< SamplerType > &sampler)

Protected Attributes
std::shared_ptr< SamplerType >	sampler_

Detailed Description

Definition at line 64 of file lidar_measurement_model_base.h.

Member Typedef Documentation

using mcl_3dl::LidarMeasurementModelBase::PointType = mcl_3dl::PointXYZIL

Definition at line 68 of file lidar_measurement_model_base.h.

using mcl_3dl::LidarMeasurementModelBase::Ptr = std::shared_ptr<LidarMeasurementModelBase>

Definition at line 67 of file lidar_measurement_model_base.h.

using mcl_3dl::LidarMeasurementModelBase::SamplerType = PointCloudRandomSampler<PointType>

Definition at line 69 of file lidar_measurement_model_base.h.

Constructor & Destructor Documentation

mcl_3dl::LidarMeasurementModelBase::LidarMeasurementModelBase ( )

inline

Definition at line 71 of file lidar_measurement_model_base.h.

Member Function Documentation

virtual pcl::PointCloud<PointType>::Ptr mcl_3dl::LidarMeasurementModelBase::filter ( const pcl::PointCloud< PointType >::ConstPtr &  ) const

pure virtual

Implemented in mcl_3dl::LidarMeasurementModelBeam, and mcl_3dl::LidarMeasurementModelLikelihood.

virtual float mcl_3dl::LidarMeasurementModelBase::getMaxSearchRange ( ) const

pure virtual

Implemented in mcl_3dl::LidarMeasurementModelBeam, and mcl_3dl::LidarMeasurementModelLikelihood.

std::shared_ptr<SamplerType> mcl_3dl::LidarMeasurementModelBase::getRandomSampler ( )

inline

Definition at line 96 of file lidar_measurement_model_base.h.

virtual void mcl_3dl::LidarMeasurementModelBase::loadConfig ( const ros::NodeHandle &  nh, const std::string &  name  )

pure virtual

Implemented in mcl_3dl::LidarMeasurementModelBeam, and mcl_3dl::LidarMeasurementModelLikelihood.

virtual LidarMeasurementResult mcl_3dl::LidarMeasurementModelBase::measure ( ChunkedKdtree< PointType >::Ptr &  , const pcl::PointCloud< PointType >::ConstPtr &  , const std::vector< Vec3 > &  , const State6DOF &    ) const

pure virtual

Implemented in mcl_3dl::LidarMeasurementModelBeam, and mcl_3dl::LidarMeasurementModelLikelihood.

virtual void mcl_3dl::LidarMeasurementModelBase::setGlobalLocalizationStatus ( const size_t  , const size_t    )

pure virtual

Implemented in mcl_3dl::LidarMeasurementModelBeam, and mcl_3dl::LidarMeasurementModelLikelihood.

void mcl_3dl::LidarMeasurementModelBase::setRandomSampler ( const std::shared_ptr< SamplerType > &  sampler )

inline

Definition at line 92 of file lidar_measurement_model_base.h.

Member Data Documentation

std::shared_ptr<SamplerType> mcl_3dl::LidarMeasurementModelBase::sampler_

protected

Definition at line 102 of file lidar_measurement_model_base.h.

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

• lidar_measurement_model_base.h