lidar_measurement_model_beam.h
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29 
30 #ifndef MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_BEAM_H
31 #define MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_BEAM_H
32 
33 #include <memory>
34 #include <string>
35 #include <vector>
36 
37 #include <ros/ros.h>
38 
39 #include <pcl/point_types.h>
40 #include <pcl_ros/point_cloud.h>
41 
42 #include <mcl_3dl/chunked_kdtree.h>
44 #include <mcl_3dl/pf.h>
46 #include <mcl_3dl/raycast.h>
47 #include <mcl_3dl/vec3.h>
48 
49 namespace mcl_3dl
50 {
52 {
53 private:
54  std::shared_ptr<Raycast<LidarMeasurementModelBase::PointType>> raycaster_;
55  size_t num_points_;
58  float clip_far_sq_;
60  float clip_z_min_;
61  float clip_z_max_;
65  float map_grid_x_;
66  float map_grid_y_;
67  float map_grid_z_;
73 
74 public:
75  enum class BeamStatus
76  {
77  SHORT,
78  HIT,
79  LONG,
81  };
82  LidarMeasurementModelBeam(const float grid_size_x, const float grid_size_y, const float grid_size_z);
83 
84  inline float getMaxSearchRange() const
85  {
86  return search_range_;
87  }
88  inline float getSinTotalRef() const
89  {
90  return sin_total_ref_;
91  }
92  inline uint32_t getFilterLabelMax() const
93  {
94  return filter_label_max_;
95  }
96  void loadConfig(
97  const ros::NodeHandle& nh,
98  const std::string& name);
100  const size_t num_particles,
101  const size_t current_num_particles);
102  pcl::PointCloud<PointType>::Ptr filter(
103  const pcl::PointCloud<PointType>::ConstPtr& pc) const;
106  const pcl::PointCloud<PointType>::ConstPtr& pc,
107  const std::vector<Vec3>& origins,
108  const State6DOF& s) const;
111  const Vec3& beam_begin, const Vec3& beam_end,
112  typename mcl_3dl::Raycast<PointType>::CastResult& result) const;
113 };
114 } // namespace mcl_3dl
115 
116 #endif // MCL_3DL_LIDAR_MEASUREMENT_MODELS_LIDAR_MEASUREMENT_MODEL_BEAM_H
pcl::PointCloud< PointType >::Ptr filter(const pcl::PointCloud< PointType >::ConstPtr &pc) const
XmlRpcServer s
std::shared_ptr< ChunkedKdtree > Ptr
std::shared_ptr< Raycast< LidarMeasurementModelBase::PointType > > raycaster_
LidarMeasurementResult measure(ChunkedKdtree< PointType >::Ptr &kdtree, const pcl::PointCloud< PointType >::ConstPtr &pc, const std::vector< Vec3 > &origins, const State6DOF &s) const
BeamStatus getBeamStatus(ChunkedKdtree< PointType >::Ptr &kdtree, const Vec3 &beam_begin, const Vec3 &beam_end, typename mcl_3dl::Raycast< PointType >::CastResult &result) const
void setGlobalLocalizationStatus(const size_t num_particles, const size_t current_num_particles)
void loadConfig(const ros::NodeHandle &nh, const std::string &name)
LidarMeasurementModelBeam(const float grid_size_x, const float grid_size_y, const float grid_size_z)


mcl_3dl
Author(s): Atsushi Watanabe
autogenerated on Wed May 12 2021 02:16:29