#include <lidar_measurement_model_beam.h>

Inheritance diagram for mcl_3dl::LidarMeasurementModelBeam:

Public Types
enum	BeamStatus { BeamStatus::SHORT, BeamStatus::HIT, BeamStatus::LONG, BeamStatus::TOTAL_REFLECTION }

Public Types inherited from mcl_3dl::LidarMeasurementModelBase
using	PointType = mcl_3dl::PointXYZIL

using	Ptr = std::shared_ptr< LidarMeasurementModelBase >

using	SamplerType = PointCloudRandomSampler< PointType >

Public Member Functions
pcl::PointCloud< PointType >::Ptr	filter (const pcl::PointCloud< PointType >::ConstPtr &pc) const

BeamStatus	getBeamStatus (ChunkedKdtree< PointType >::Ptr &kdtree, const Vec3 &beam_begin, const Vec3 &beam_end, typename mcl_3dl::Raycast< PointType >::CastResult &result) const

uint32_t	getFilterLabelMax () const

float	getMaxSearchRange () const

float	getSinTotalRef () const

	LidarMeasurementModelBeam (const float grid_size_x, const float grid_size_y, const float grid_size_z)

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

LidarMeasurementResult	measure (ChunkedKdtree< PointType >::Ptr &kdtree, const pcl::PointCloud< PointType >::ConstPtr &pc, const std::vector< Vec3 > &origins, const State6DOF &s) const

void	setGlobalLocalizationStatus (const size_t num_particles, const size_t current_num_particles)

Public Member Functions inherited from mcl_3dl::LidarMeasurementModelBase
std::shared_ptr< SamplerType >	getRandomSampler ()

	LidarMeasurementModelBase ()

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

Private Attributes
bool	add_penalty_short_only_mode_

float	additional_search_range_

float	beam_likelihood_

float	beam_likelihood_min_

float	clip_far_sq_

float	clip_near_sq_

float	clip_z_max_

float	clip_z_min_

uint32_t	filter_label_max_

float	hit_range_sq_

float	map_grid_x_

float	map_grid_y_

float	map_grid_z_

size_t	num_points_

size_t	num_points_default_

size_t	num_points_global_

std::shared_ptr< Raycast< LidarMeasurementModelBase::PointType > >	raycaster_

float	search_range_

float	sin_total_ref_

Additional Inherited Members
Protected Attributes inherited from mcl_3dl::LidarMeasurementModelBase
std::shared_ptr< SamplerType >	sampler_

Detailed Description

Definition at line 51 of file lidar_measurement_model_beam.h.

Member Enumeration Documentation

enum mcl_3dl::LidarMeasurementModelBeam::BeamStatus

strong

Enumerator
SHORT
HIT
LONG
TOTAL_REFLECTION

Definition at line 75 of file lidar_measurement_model_beam.h.

Constructor & Destructor Documentation

mcl_3dl::LidarMeasurementModelBeam::LidarMeasurementModelBeam	(	const float	grid_size_x,
		const float	grid_size_y,
		const float	grid_size_z
	)

Definition at line 53 of file lidar_measurement_model_beam.cpp.

Member Function Documentation

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

virtual

Implements mcl_3dl::LidarMeasurementModelBase.

Definition at line 146 of file lidar_measurement_model_beam.cpp.

LidarMeasurementModelBeam::BeamStatus mcl_3dl::LidarMeasurementModelBeam::getBeamStatus	(	ChunkedKdtree< PointType >::Ptr &	kdtree,
		const Vec3 &	beam_begin,
		const Vec3 &	beam_end,
		typename mcl_3dl::Raycast< PointType >::CastResult &	result
	)		const

Definition at line 203 of file lidar_measurement_model_beam.cpp.

uint32_t mcl_3dl::LidarMeasurementModelBeam::getFilterLabelMax ( ) const

inline

Definition at line 92 of file lidar_measurement_model_beam.h.

float mcl_3dl::LidarMeasurementModelBeam::getMaxSearchRange ( ) const

inlinevirtual

Implements mcl_3dl::LidarMeasurementModelBase.

Definition at line 84 of file lidar_measurement_model_beam.h.

float mcl_3dl::LidarMeasurementModelBeam::getSinTotalRef ( ) const

inline

Definition at line 88 of file lidar_measurement_model_beam.h.

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

virtual

Implements mcl_3dl::LidarMeasurementModelBase.

Definition at line 63 of file lidar_measurement_model_beam.cpp.

LidarMeasurementResult mcl_3dl::LidarMeasurementModelBeam::measure	(	ChunkedKdtree< PointType >::Ptr &	kdtree,
		const pcl::PointCloud< PointType >::ConstPtr &	pc,
		const std::vector< Vec3 > &	origins,
		const State6DOF &	s
	)		const