Public Member Functions | Public Attributes | List of all members
GMapping::GridSlamProcessor::Particle Struct Reference

#include <gridslamprocessor.h>

Public Member Functions

 operator double () const
 operator OrientedPoint () const
 Particle (const ScanMatcherMap &map)
void setWeight (double w)

Public Attributes

double gweight
ScanMatcherMap map
OrientedPoint pose
int previousIndex
OrientedPoint previousPose
double weight
double weightSum

Detailed Description

This class defines a particle of the filter. Each particle has a map, a pose, a weight and retains the current node in the trajectory tree

Definition at line 88 of file gridslamprocessor.h.

Constructor & Destructor Documentation

GMapping::GridSlamProcessor::Particle::Particle ( const ScanMatcherMap map)

constructs a particle, given a map

mapthe particle map

Definition at line 236 of file gridslamprocessor.cpp.

Member Function Documentation

GMapping::GridSlamProcessor::Particle::operator double ( ) const
the weight of a particle

Definition at line 95 of file gridslamprocessor.h.

GMapping::GridSlamProcessor::Particle::operator OrientedPoint ( ) const
the pose of a particle

Definition at line 97 of file gridslamprocessor.h.

void GMapping::GridSlamProcessor::Particle::setWeight ( double  w)

sets the weight of a particle

wthe weight

Definition at line 101 of file gridslamprocessor.h.

Member Data Documentation

double GMapping::GridSlamProcessor::Particle::gweight

Definition at line 116 of file gridslamprocessor.h.

ScanMatcherMap GMapping::GridSlamProcessor::Particle::map

The map

Definition at line 103 of file gridslamprocessor.h.

TNode* GMapping::GridSlamProcessor::Particle::node

Entry to the trajectory tree

Definition at line 122 of file gridslamprocessor.h.

OrientedPoint GMapping::GridSlamProcessor::Particle::pose

The pose of the robot

Definition at line 105 of file gridslamprocessor.h.

int GMapping::GridSlamProcessor::Particle::previousIndex

The index of the previous particle in the trajectory tree

Definition at line 119 of file gridslamprocessor.h.

OrientedPoint GMapping::GridSlamProcessor::Particle::previousPose

The pose of the robot at the previous time frame (used for computing thr odometry displacements)

Definition at line 108 of file gridslamprocessor.h.

double GMapping::GridSlamProcessor::Particle::weight

The weight of the particle

Definition at line 111 of file gridslamprocessor.h.

double GMapping::GridSlamProcessor::Particle::weightSum

The cumulative weight of the particle

Definition at line 114 of file gridslamprocessor.h.

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

Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
autogenerated on Mon Jun 10 2019 14:04:22