#include <gridslamprocessor.h>
Public Member Functions | |
| TNode (const OrientedPoint &pose, double weight, TNode *parent=0, unsigned int childs=0) | |
| ~TNode () | |
Public Attributes | |
| double | accWeight |
| unsigned int | childs |
| bool | flag |
| double | gweight |
| TNode * | parent |
| OrientedPoint | pose |
| const RangeReading * | reading |
| unsigned int | visitCounter |
| double | weight |
This class defines the the node of reversed tree in which the trajectories are stored. Each node of a tree has a pointer to its parent and a counter indicating the number of childs of a node. The tree is updated in a way consistent with the operation performed on the particles.
Definition at line 42 of file gridslamprocessor.h.
| GMapping::GridSlamProcessor::TNode::TNode | ( | const OrientedPoint & | pose, |
| double | weight, | ||
| TNode * | parent = 0, |
||
| unsigned int | childs = 0 |
||
| ) |
Constructs a node of the trajectory tree.
| pose | the pose of the robot in the trajectory |
| weight | the weight of the particle at that point in the trajectory |
| accWeight | the cumulative weight of the particle |
| parent | the parent node in the tree |
| childs | the number of childs |
Definition at line 16 of file gridslamprocessor_tree.cpp.
| GMapping::GridSlamProcessor::TNode::~TNode | ( | ) |
Destroys a tree node, and consistently updates the tree. If a node whose parent has only one child is deleted, also the parent node is deleted. This because the parent will not be reacheable anymore in the trajectory tree.
Definition at line 31 of file gridslamprocessor_tree.cpp.
| double GMapping::GridSlamProcessor::TNode::accWeight |
The sum of all the particle weights in the previous part of the trajectory
Definition at line 63 of file gridslamprocessor.h.
| unsigned int GMapping::GridSlamProcessor::TNode::childs |
The number of childs
Definition at line 75 of file gridslamprocessor.h.
|
mutable |
visit flag (internally used)
Definition at line 81 of file gridslamprocessor.h.
| double GMapping::GridSlamProcessor::TNode::gweight |
Definition at line 65 of file gridslamprocessor.h.
| TNode* GMapping::GridSlamProcessor::TNode::parent |
The parent
Definition at line 69 of file gridslamprocessor.h.
| OrientedPoint GMapping::GridSlamProcessor::TNode::pose |
The pose of the robot
Definition at line 57 of file gridslamprocessor.h.
| const RangeReading* GMapping::GridSlamProcessor::TNode::reading |
The range reading to which this node is associated
Definition at line 72 of file gridslamprocessor.h.
|
mutable |
counter in visiting the node (internally used)
Definition at line 78 of file gridslamprocessor.h.
| double GMapping::GridSlamProcessor::TNode::weight |
The weight of the particle
Definition at line 60 of file gridslamprocessor.h.