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
TNode *	node
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 89 of file gridslamprocessor.h.

Constructor & Destructor Documentation

Particle()

GMapping::GridSlamProcessor::Particle::Particle

(

const ScanMatcherMap &

map

)

constructs a particle, given a map

Parameters

map	the particle map

Definition at line 236 of file gridslamprocessor.cpp.

Member Function Documentation

operator double()

GMapping::GridSlamProcessor::Particle::operator double ( ) const

inline

Returns

the weight of a particle

Definition at line 96 of file gridslamprocessor.h.

operator OrientedPoint()

GMapping::GridSlamProcessor::Particle::operator OrientedPoint ( ) const

inline

Returns

the pose of a particle

Definition at line 98 of file gridslamprocessor.h.

setWeight()

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

inline

sets the weight of a particle

Parameters

w	the weight

Definition at line 102 of file gridslamprocessor.h.

Member Data Documentation

gweight

double GMapping::GridSlamProcessor::Particle::gweight

Definition at line 117 of file gridslamprocessor.h.

map

ScanMatcherMap GMapping::GridSlamProcessor::Particle::map

The map

Definition at line 104 of file gridslamprocessor.h.

node

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

Entry to the trajectory tree

Definition at line 123 of file gridslamprocessor.h.

pose

OrientedPoint GMapping::GridSlamProcessor::Particle::pose

The pose of the robot

Definition at line 106 of file gridslamprocessor.h.

previousIndex

int GMapping::GridSlamProcessor::Particle::previousIndex

The index of the previous particle in the trajectory tree

Definition at line 120 of file gridslamprocessor.h.

previousPose

OrientedPoint GMapping::GridSlamProcessor::Particle::previousPose

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

Definition at line 109 of file gridslamprocessor.h.

weight

double GMapping::GridSlamProcessor::Particle::weight

The weight of the particle

Definition at line 112 of file gridslamprocessor.h.

weightSum

double GMapping::GridSlamProcessor::Particle::weightSum

The cumulative weight of the particle

Definition at line 115 of file gridslamprocessor.h.

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

• gridslamprocessor.h
• gridslamprocessor.cpp