#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

Detailed Description

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 43 of file gridslamprocessor.h.

Constructor & Destructor Documentation

◆ TNode()

GMapping::GridSlamProcessor::TNode::TNode	(	const OrientedPoint &	pose,
		double	weight,
		TNode *	parent = `0`,
		unsigned int	childs = `0`
	)

Constructs a node of the trajectory tree.

Parameters

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.

◆ ~TNode()

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.

Member Data Documentation

◆ accWeight

double GMapping::GridSlamProcessor::TNode::accWeight

The sum of all the particle weights in the previous part of the trajectory

Definition at line 64 of file gridslamprocessor.h.

◆ childs

unsigned int GMapping::GridSlamProcessor::TNode::childs

The number of childs

Definition at line 76 of file gridslamprocessor.h.

◆ flag

bool GMapping::GridSlamProcessor::TNode::flag

mutable

visit flag (internally used)

Definition at line 82 of file gridslamprocessor.h.

◆ gweight

double GMapping::GridSlamProcessor::TNode::gweight

Definition at line 66 of file gridslamprocessor.h.

◆ parent

TNode* GMapping::GridSlamProcessor::TNode::parent

The parent

Definition at line 70 of file gridslamprocessor.h.

◆ pose

OrientedPoint GMapping::GridSlamProcessor::TNode::pose

The pose of the robot

Definition at line 58 of file gridslamprocessor.h.

◆ reading

const RangeReading* GMapping::GridSlamProcessor::TNode::reading

The range reading to which this node is associated

Definition at line 73 of file gridslamprocessor.h.

◆ visitCounter

unsigned int GMapping::GridSlamProcessor::TNode::visitCounter

mutable

counter in visiting the node (internally used)

Definition at line 79 of file gridslamprocessor.h.

◆ weight

double GMapping::GridSlamProcessor::TNode::weight

The weight of the particle

Definition at line 61 of file gridslamprocessor.h.

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

Public Member Functions

Public Attributes