#include <amcl_laser.h>

Inheritance diagram for amcl::AMCLLaser:

Public Member Functions
	AMCLLaser (size_t max_beams, map_t *map)

void	SetLaserPose (pf_vector_t &laser_pose)

void	SetModelBeam (double z_hit, double z_short, double z_max, double z_rand, double sigma_hit, double labda_short, double chi_outlier)

void	SetModelLikelihoodField (double z_hit, double z_rand, double sigma_hit, double max_occ_dist)

void	SetModelLikelihoodFieldProb (double z_hit, double z_rand, double sigma_hit, double max_occ_dist, bool do_beamskip, double beam_skip_distance, double beam_skip_threshold, double beam_skip_error_threshold)

virtual bool	UpdateSensor (pf_t pf, AMCLSensorData data)

virtual	~AMCLLaser ()

Public Member Functions inherited from amcl::AMCLSensor
	AMCLSensor ()

virtual bool	InitSensor (pf_t pf, AMCLSensorData data)

virtual bool	UpdateAction (pf_t pf, AMCLSensorData data)

virtual	~AMCLSensor ()

Private Member Functions
void	reallocTempData (int max_samples, int max_obs)

Static Private Member Functions
static double	BeamModel (AMCLLaserData data, pf_sample_set_t set)

static double	LikelihoodFieldModel (AMCLLaserData data, pf_sample_set_t set)

static double	LikelihoodFieldModelProb (AMCLLaserData data, pf_sample_set_t set)

Private Attributes
double	beam_skip_distance

double	beam_skip_error_threshold

double	beam_skip_threshold

double	chi_outlier

bool	do_beamskip

double	lambda_short

pf_vector_t	laser_pose

map_t *	map

int	max_beams

int	max_obs

int	max_samples

laser_model_t	model_type

double	sigma_hit

double **	temp_obs

double	time

double	z_hit

double	z_max

double	z_rand

double	z_short

Additional Inherited Members
Public Attributes inherited from amcl::AMCLSensor
bool	is_action

pf_vector_t	pose

Detailed Description

Definition at line 59 of file amcl_laser.h.

Constructor & Destructor Documentation

AMCLLaser::AMCLLaser	(	size_t	max_beams,
		map_t *	map
	)

Definition at line 42 of file amcl_laser.cpp.

AMCLLaser::~AMCLLaser ( )

virtual

Definition at line 54 of file amcl_laser.cpp.

Member Function Documentation

double AMCLLaser::BeamModel	(	AMCLLaserData *	data,
		pf_sample_set_t *	set
	)

staticprivate

Definition at line 142 of file amcl_laser.cpp.

double AMCLLaser::LikelihoodFieldModel	(	AMCLLaserData *	data,
		pf_sample_set_t *	set
	)

staticprivate

Definition at line 213 of file amcl_laser.cpp.

double AMCLLaser::LikelihoodFieldModelProb	(	AMCLLaserData *	data,
		pf_sample_set_t *	set
	)

staticprivate

Definition at line 303 of file amcl_laser.cpp.

void AMCLLaser::reallocTempData	(	int	max_samples,
		int	max_obs
	)

private

Definition at line 494 of file amcl_laser.cpp.

void amcl::AMCLLaser::SetLaserPose ( pf_vector_t & laser_pose )

inline

Definition at line 94 of file amcl_laser.h.

void AMCLLaser::SetModelBeam	(	double	z_hit,
		double	z_short,
		double	z_max,
		double	z_rand,
		double	sigma_hit,
		double	labda_short,
		double	chi_outlier
	)

Definition at line 65 of file amcl_laser.cpp.

void AMCLLaser::SetModelLikelihoodField	(	double	z_hit,
		double	z_rand,
		double	sigma_hit,
		double	max_occ_dist
	)

Definition at line 84 of file amcl_laser.cpp.

void AMCLLaser::SetModelLikelihoodFieldProb	(	double	z_hit,
		double	z_rand,
		double	sigma_hit,
		double	max_occ_dist,
		bool	do_beamskip,
		double	beam_skip_distance,
		double	beam_skip_threshold,
		double	beam_skip_error_threshold
	)

Definition at line 98 of file amcl_laser.cpp.

bool AMCLLaser::UpdateSensor	(	pf_t *	pf,
		AMCLSensorData *	data
	)

virtual

Reimplemented from amcl::AMCLSensor.

Definition at line 121 of file amcl_laser.cpp.

Member Data Documentation

double amcl::AMCLLaser::beam_skip_distance

private

Definition at line 126 of file amcl_laser.h.

double amcl::AMCLLaser::beam_skip_error_threshold

private

Definition at line 130 of file amcl_laser.h.

double amcl::AMCLLaser::beam_skip_threshold

private

Definition at line 127 of file amcl_laser.h.

double amcl::AMCLLaser::chi_outlier

private

Definition at line 150 of file amcl_laser.h.

bool amcl::AMCLLaser::do_beamskip

private

Definition at line 125 of file amcl_laser.h.

double amcl::AMCLLaser::lambda_short

private

Definition at line 148 of file amcl_laser.h.

pf_vector_t amcl::AMCLLaser::laser_pose

private

Definition at line 119 of file amcl_laser.h.

map_t* amcl::AMCLLaser::map

private

Definition at line 116 of file amcl_laser.h.

int amcl::AMCLLaser::max_beams

private

Definition at line 122 of file amcl_laser.h.

int amcl::AMCLLaser::max_obs

private

Definition at line 134 of file amcl_laser.h.

int amcl::AMCLLaser::max_samples

private

Definition at line 133 of file amcl_laser.h.

laser_model_t amcl::AMCLLaser::model_type

private

Definition at line 110 of file amcl_laser.h.

double amcl::AMCLLaser::sigma_hit

private

Definition at line 146 of file amcl_laser.h.

double** amcl::AMCLLaser::temp_obs

private

Definition at line 135 of file amcl_laser.h.

double amcl::AMCLLaser::time

private

Definition at line 113 of file amcl_laser.h.

double amcl::AMCLLaser::z_hit

private

Definition at line 140 of file amcl_laser.h.

double amcl::AMCLLaser::z_max

private

Definition at line 142 of file amcl_laser.h.

double amcl::AMCLLaser::z_rand

private

Definition at line 143 of file amcl_laser.h.

double amcl::AMCLLaser::z_short

private

Definition at line 141 of file amcl_laser.h.

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

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation