#include <lidar_measurement_model_beam.h>

Inheritance diagram for mcl_3dl::LidarMeasurementModelBeam:

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

float	getMaxSearchRange () const

float	getSinTotalRef () const

	LidarMeasurementModelBeam (const float x, const float y, const float 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)

Private Attributes
float	beam_likelihood_

float	beam_likelihood_min_

float	clip_far_sq_

float	clip_near_sq_

float	clip_z_max_

float	clip_z_min_

float	map_grid_max_

float	map_grid_min_

size_t	num_points_

size_t	num_points_default_

size_t	num_points_global_

PointCloudRandomSampler	sampler_

float	sin_total_ref_

Additional Inherited Members
Public Types inherited from mcl_3dl::LidarMeasurementModelBase
using	PointType = mcl_3dl::PointXYZIL

using	Ptr = std::shared_ptr< LidarMeasurementModelBase >

Detailed Description

Definition at line 49 of file lidar_measurement_model_beam.h.

Constructor & Destructor Documentation

mcl_3dl::LidarMeasurementModelBeam::LidarMeasurementModelBeam	(	const float	x,
		const float	y,
		const float	z
	)

Definition at line 49 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 108 of file lidar_measurement_model_beam.cpp.

float mcl_3dl::LidarMeasurementModelBeam::getMaxSearchRange ( ) const

inlinevirtual

Implements mcl_3dl::LidarMeasurementModelBase.

Definition at line 70 of file lidar_measurement_model_beam.h.

float mcl_3dl::LidarMeasurementModelBeam::getSinTotalRef ( ) const

inline

Definition at line 74 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 57 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