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