46 std::auto_ptr<RosUkf>
ukf;
56 std::vector<double>
args(3, 0);
58 nh_priv.
param(
"alpha", args[0], 0.001);
59 nh_priv.
param(
"kappa", args[1], 0.0);
60 nh_priv.
param(
"beta", args[2], 2.0);
62 ukf.reset(
new RosUkf(nh, nh_priv, args));
PLUGINLIB_EXPORT_CLASS(RobotLocalization::UkfNodelet, nodelet::Nodelet)
ros::NodeHandle & getPrivateNodeHandle() const
bool param(const std::string ¶m_name, T ¶m_val, const T &default_val) const
ros::NodeHandle & getNodeHandle() const
std::auto_ptr< RosUkf > ukf
#define NODELET_DEBUG(...)