parameters.h
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00001 /*
00002  * Copyright (c) 2016-2018, the mcl_3dl authors
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the copyright holder nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 #ifndef MCL_3DL_PARAMETERS_H
00030 #define MCL_3DL_PARAMETERS_H
00031 
00032 namespace mcl_3dl
00033 {
00034 class Parameters
00035 {
00036 public:
00037   double map_downsample_x_;
00038   double map_downsample_y_;
00039   double map_downsample_z_;
00040   double update_downsample_x_;
00041   double update_downsample_y_;
00042   double update_downsample_z_;
00043   double map_grid_min_;
00044   double map_grid_max_;
00045   double global_localization_grid_;
00046   int global_localization_div_yaw_;
00047   double downsample_x_;
00048   double downsample_y_;
00049   double downsample_z_;
00050   double resample_var_x_;
00051   double resample_var_y_;
00052   double resample_var_z_;
00053   double resample_var_roll_;
00054   double resample_var_pitch_;
00055   double resample_var_yaw_;
00056   double expansion_var_x_;
00057   double expansion_var_y_;
00058   double expansion_var_z_;
00059   double expansion_var_roll_;
00060   double expansion_var_pitch_;
00061   double expansion_var_yaw_;
00062   double match_ratio_thresh_;
00063   double jump_dist_;
00064   double jump_ang_;
00065   double fix_dist_;
00066   double fix_ang_;
00067   double odom_err_lin_lin_;
00068   double odom_err_lin_ang_;
00069   double odom_err_ang_lin_;
00070   double odom_err_ang_ang_;
00071   std::shared_ptr<ros::Duration> map_update_interval_;
00072   int num_particles_;
00073   int skip_measure_;
00074   int accum_cloud_;
00075   double match_output_dist_;
00076   double unmatch_output_dist_;
00077   double bias_var_dist_;
00078   double bias_var_ang_;
00079   double acc_var_;
00080   double odom_err_integ_lin_tc_;
00081   double odom_err_integ_lin_sigma_;
00082   double odom_err_integ_ang_tc_;
00083   double odom_err_integ_ang_sigma_;
00084   std::shared_ptr<ros::Duration> match_output_interval_;
00085   std::shared_ptr<ros::Duration> tf_tolerance_;
00086   double lpf_step_;
00087 };
00088 }  // namespace mcl_3dl
00089 
00090 #endif  // MCL_3DL_PARAMETERS_H


mcl_3dl
Author(s): Atsushi Watanabe
autogenerated on Thu Jun 20 2019 20:04:43