mcl_3dl::State6DOF Class Reference

#include <state_6dof.h>

Inheritance diagram for mcl_3dl::State6DOF:

Classes
class	RPYVec

Public Member Functions
bool	isDiff () const
void	normalize () override
State6DOF	operator+ (const State6DOF &a) const
State6DOF	operator- (const State6DOF &a) const
float &	operator[] (const size_t i) override
float	operator[] (const size_t i) const
size_t	size () const override
	State6DOF ()
	State6DOF (const mcl_3dl::Vec3 pos, const mcl_3dl::Quat rot)
	State6DOF (const mcl_3dl::Vec3 pos, const mcl_3dl::Vec3 rpy)
template<typename PointType >
void	transform (pcl::PointCloud< PointType > &pc) const
Public Member Functions inherited from mcl_3dl::pf::ParticleBase< float >
float	covElement (const T &e, const size_t &j, const size_t &k)
T	operator+ (const T &a)

Static Public Member Functions
static State6DOF	generateNoise (std::default_random_engine &engine_, const State6DOF &mean, const State6DOF &sigma)
Static Public Member Functions inherited from mcl_3dl::pf::ParticleBase< float >
static T	generateNoise (std::default_random_engine &engine_, T mean, T sigma)

Public Attributes
bool	diff_
float	noise_aa_
float	noise_al_
float	noise_la_
float	noise_ll_
mcl_3dl::Vec3	odom_err_integ_ang_
mcl_3dl::Vec3	odom_err_integ_lin_
mcl_3dl::Vec3	pos_
mcl_3dl::Quat	rot_
RPYVec	rpy_

Detailed Description

Definition at line 44 of file state_6dof.h.

Constructor & Destructor Documentation

mcl_3dl::State6DOF::State6DOF ( )

inline

Definition at line 153 of file state_6dof.h.

mcl_3dl::State6DOF::State6DOF ( const mcl_3dl::Vec3  pos, const mcl_3dl::Quat  rot  )

inline

Definition at line 160 of file state_6dof.h.

mcl_3dl::State6DOF::State6DOF ( const mcl_3dl::Vec3  pos, const mcl_3dl::Vec3  rpy  )

inline

Definition at line 169 of file state_6dof.h.

Member Function Documentation

static State6DOF mcl_3dl::State6DOF::generateNoise ( std::default_random_engine &  engine_, const State6DOF &  mean, const State6DOF &  sigma  )

inlinestatic

Definition at line 194 of file state_6dof.h.

bool mcl_3dl::State6DOF::isDiff ( ) const

inline

Definition at line 178 of file state_6dof.h.

void mcl_3dl::State6DOF::normalize ( )

inlineoverridevirtual

Implements mcl_3dl::pf::ParticleBase< float >.

Definition at line 149 of file state_6dof.h.

State6DOF mcl_3dl::State6DOF::operator+ ( const State6DOF &  a ) const

inline

Definition at line 217 of file state_6dof.h.

State6DOF mcl_3dl::State6DOF::operator- ( const State6DOF &  a ) const

inline

Definition at line 230 of file state_6dof.h.

float& mcl_3dl::State6DOF::operator[] ( const size_t  i )

inlineoverridevirtual

Implements mcl_3dl::pf::ParticleBase< float >.

Definition at line 75 of file state_6dof.h.

float mcl_3dl::State6DOF::operator[] ( const size_t  i ) const

inline

Definition at line 110 of file state_6dof.h.

size_t mcl_3dl::State6DOF::size ( ) const

inlineoverridevirtual

Implements mcl_3dl::pf::ParticleBase< float >.

Definition at line 145 of file state_6dof.h.

template<typename PointType >

void mcl_3dl::State6DOF::transform ( pcl::PointCloud< PointType > &  pc ) const

inline

Definition at line 183 of file state_6dof.h.

Member Data Documentation

bool mcl_3dl::State6DOF::diff_

Definition at line 49 of file state_6dof.h.

float mcl_3dl::State6DOF::noise_aa_

Definition at line 53 of file state_6dof.h.

float mcl_3dl::State6DOF::noise_al_

Definition at line 52 of file state_6dof.h.

float mcl_3dl::State6DOF::noise_la_

Definition at line 51 of file state_6dof.h.

float mcl_3dl::State6DOF::noise_ll_

Definition at line 50 of file state_6dof.h.

mcl_3dl::Vec3 mcl_3dl::State6DOF::odom_err_integ_ang_

Definition at line 55 of file state_6dof.h.

mcl_3dl::Vec3 mcl_3dl::State6DOF::odom_err_integ_lin_

Definition at line 54 of file state_6dof.h.

mcl_3dl::Vec3 mcl_3dl::State6DOF::pos_

Definition at line 47 of file state_6dof.h.

mcl_3dl::Quat mcl_3dl::State6DOF::rot_

Definition at line 48 of file state_6dof.h.

RPYVec mcl_3dl::State6DOF::rpy_

Definition at line 74 of file state_6dof.h.

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The documentation for this class was generated from the following file:

• state_6dof.h