#include <lidar_measurement_model_likelihood.h>

Inheritance diagram for mcl_3dl::LidarMeasurementModelLikelihood:

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

float	getMaxSearchRange () const

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)

Public Member Functions inherited from mcl_3dl::LidarMeasurementModelBase
std::shared_ptr< SamplerType >	getRandomSampler ()

	LidarMeasurementModelBase ()

void	setRandomSampler (const std::shared_ptr< SamplerType > &sampler)

Private Attributes
float	clip_far_sq_

float	clip_near_sq_

float	clip_z_max_

float	clip_z_min_

float	match_dist_flat_

float	match_dist_min_

float	match_weight_

size_t	num_points_

size_t	num_points_default_

size_t	num_points_global_

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

using	Ptr = std::shared_ptr< LidarMeasurementModelBase >

using	SamplerType = PointCloudRandomSampler< PointType >

Protected Attributes inherited from mcl_3dl::LidarMeasurementModelBase
std::shared_ptr< SamplerType >	sampler_

Detailed Description

Definition at line 50 of file lidar_measurement_model_likelihood.h.

Member Function Documentation

◆ filter()

pcl::PointCloud< LidarMeasurementModelBase::PointType >::Ptr mcl_3dl::LidarMeasurementModelLikelihood::filter ( const pcl::PointCloud< PointType >::ConstPtr & pc ) const

virtual

Implements mcl_3dl::LidarMeasurementModelBase.

Definition at line 100 of file lidar_measurement_model_likelihood.cpp.

◆ getMaxSearchRange()

float mcl_3dl::LidarMeasurementModelLikelihood::getMaxSearchRange ( ) const

inlinevirtual

Implements mcl_3dl::LidarMeasurementModelBase.

Definition at line 65 of file lidar_measurement_model_likelihood.h.

◆ loadConfig()

void mcl_3dl::LidarMeasurementModelLikelihood::loadConfig	(	const ros::NodeHandle &	nh,
		const std::string &	name
	)

virtual

Implements mcl_3dl::LidarMeasurementModelBase.

Definition at line 49 of file lidar_measurement_model_likelihood.cpp.

◆ measure()

LidarMeasurementResult mcl_3dl::LidarMeasurementModelLikelihood::measure	(	ChunkedKdtree< PointType >::Ptr &	kdtree,
		const pcl::PointCloud< PointType >::ConstPtr &	pc,
		const std::vector< Vec3 > &	origins,
		const State6DOF &	s
	)		const