#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 |
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.
GMapping::GridSlamProcessor::Particle::Particle | ( | const ScanMatcherMap & | map | ) |
constructs a particle, given a map
map | the particle map |
Definition at line 236 of file gridslamprocessor.cpp.
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inline |
Definition at line 96 of file gridslamprocessor.h.
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inline |
Definition at line 98 of file gridslamprocessor.h.
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inline |
sets the weight of a particle
w | the weight |
Definition at line 102 of file gridslamprocessor.h.
double GMapping::GridSlamProcessor::Particle::gweight |
Definition at line 117 of file gridslamprocessor.h.
ScanMatcherMap GMapping::GridSlamProcessor::Particle::map |
The map
Definition at line 104 of file gridslamprocessor.h.
TNode* GMapping::GridSlamProcessor::Particle::node |
Entry to the trajectory tree
Definition at line 123 of file gridslamprocessor.h.
OrientedPoint GMapping::GridSlamProcessor::Particle::pose |
The pose of the robot
Definition at line 106 of file gridslamprocessor.h.
int GMapping::GridSlamProcessor::Particle::previousIndex |
The index of the previous particle in the trajectory tree
Definition at line 120 of file gridslamprocessor.h.
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.
double GMapping::GridSlamProcessor::Particle::weight |
The weight of the particle
Definition at line 112 of file gridslamprocessor.h.
double GMapping::GridSlamProcessor::Particle::weightSum |
The cumulative weight of the particle
Definition at line 115 of file gridslamprocessor.h.