#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)
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_
PointCloudRandomSampler	sampler_

Detailed Description

Definition at line 49 of file lidar_measurement_model_likelihood.h.

Member Function Documentation

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

Implements mcl_3dl::LidarMeasurementModelBase.

Definition at line 99 of file lidar_measurement_model_likelihood.cpp.

float mcl_3dl::LidarMeasurementModelLikelihood::getMaxSearchRange ( ) const [inline, virtual]

Implements mcl_3dl::LidarMeasurementModelBase.

Definition at line 66 of file lidar_measurement_model_likelihood.h.

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

Implements mcl_3dl::LidarMeasurementModelBase.

Definition at line 48 of file lidar_measurement_model_likelihood.cpp.

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

Implements mcl_3dl::LidarMeasurementModelBase.

Definition at line 123 of file lidar_measurement_model_likelihood.cpp.

void mcl_3dl::LidarMeasurementModelLikelihood::setGlobalLocalizationStatus	(	const size_t	num_particles,
		const size_t	current_num_particles
	)		`[virtual]`