#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_

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 [inline, virtual]

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 `[virtual]`