Public Member Functions | Public Attributes | List of all members
GMapping::GridSlamProcessor::Particle Struct Reference

#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
 
TNodenode
 
OrientedPoint pose
 
int previousIndex
 
OrientedPoint previousPose
 
double weight
 
double weightSum
 

Detailed Description

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.

Constructor & Destructor Documentation

◆ Particle()

GMapping::GridSlamProcessor::Particle::Particle ( const ScanMatcherMap map)

constructs a particle, given a map

Parameters
mapthe particle map

Definition at line 236 of file gridslamprocessor.cpp.

Member Function Documentation

◆ operator double()

GMapping::GridSlamProcessor::Particle::operator double ( ) const
inline
Returns
the weight of a particle

Definition at line 96 of file gridslamprocessor.h.

◆ operator OrientedPoint()

GMapping::GridSlamProcessor::Particle::operator OrientedPoint ( ) const
inline
Returns
the pose of a particle

Definition at line 98 of file gridslamprocessor.h.

◆ setWeight()

void GMapping::GridSlamProcessor::Particle::setWeight ( double  w)
inline

sets the weight of a particle

Parameters
wthe weight

Definition at line 102 of file gridslamprocessor.h.

Member Data Documentation

◆ gweight

double GMapping::GridSlamProcessor::Particle::gweight

Definition at line 117 of file gridslamprocessor.h.

◆ map

ScanMatcherMap GMapping::GridSlamProcessor::Particle::map

The map

Definition at line 104 of file gridslamprocessor.h.

◆ node

TNode* GMapping::GridSlamProcessor::Particle::node

Entry to the trajectory tree

Definition at line 123 of file gridslamprocessor.h.

◆ pose

OrientedPoint GMapping::GridSlamProcessor::Particle::pose

The pose of the robot

Definition at line 106 of file gridslamprocessor.h.

◆ previousIndex

int GMapping::GridSlamProcessor::Particle::previousIndex

The index of the previous particle in the trajectory tree

Definition at line 120 of file gridslamprocessor.h.

◆ previousPose

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.

◆ weight

double GMapping::GridSlamProcessor::Particle::weight

The weight of the particle

Definition at line 112 of file gridslamprocessor.h.

◆ weightSum

double GMapping::GridSlamProcessor::Particle::weightSum

The cumulative weight of the particle

Definition at line 115 of file gridslamprocessor.h.


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


openslam_gmapping
Author(s): Cyrill Stachniss, Udo Frese, Giorgio Grisetti, Wolfram Burgard
autogenerated on Thu Oct 19 2023 02:25:51