|
| double | dt {1.0} |
| | Delta time in seconds (s). More...
|
| |
| double | initial_position {0.0} |
| | Initial robot position, in meters (m). More...
|
| |
| double | initial_position_sigma {10.0} |
| | Standard deviation of the robot's estimate of its initial position. More...
|
| |
| std::vector< double > | landmark_map {5, 12, 25, 37, 52, 55, 65, 74, 75, 87, 97} |
| | Landmark positions in the simulated world. More...
|
| |
| std::size_t | map_size {100} |
| | Size of the 1D map in (m) More...
|
| |
| double | min_particle_weight {0.08} |
| | Minimum particle weight. More...
|
| |
| double | motion_model_sigma {1.0} |
| | Motion model standard deviation, in meters per second (m/s). More...
|
| |
| std::size_t | number_of_cycles {100} |
| | Number of simulation cycles. More...
|
| |
| std::size_t | number_of_particles {300} |
| | Fixed number of particles used by the algorithm. More...
|
| |
| std::filesystem::path | record_path {"./record.yaml"} |
| | Dataset path. More...
|
| |
| double | sensor_model_sigma {1.0} |
| | Sensor model standard deviation, in meters (m). More...
|
| |
| double | sensor_range {3.0} |
| | Sensor field of view, in meters (m). More...
|
| |
| double | velocity {1.0} |
| | Constant robot velocity, in meters per second (m/s). More...
|
| |
Definition at line 36 of file main.cpp.
◆ dt
| double beluga::tutorial::Parameters::dt {1.0} |
Delta time in seconds (s).
Definition at line 57 of file main.cpp.
◆ initial_position
| double beluga::tutorial::Parameters::initial_position {0.0} |
Initial robot position, in meters (m).
Definition at line 51 of file main.cpp.
◆ initial_position_sigma
| double beluga::tutorial::Parameters::initial_position_sigma {10.0} |
Standard deviation of the robot's estimate of its initial position.
Definition at line 54 of file main.cpp.
◆ landmark_map
| std::vector<double> beluga::tutorial::Parameters::landmark_map {5, 12, 25, 37, 52, 55, 65, 74, 75, 87, 97} |
Landmark positions in the simulated world.
Definition at line 84 of file main.cpp.
◆ map_size
| std::size_t beluga::tutorial::Parameters::map_size {100} |
Size of the 1D map in (m)
1D map space is continuous, but its size is defined as an integer to simplify data visualization.
Definition at line 42 of file main.cpp.
◆ min_particle_weight
| double beluga::tutorial::Parameters::min_particle_weight {0.08} |
Minimum particle weight.
Used to keep all particles "alive" in the reweight step.
Definition at line 81 of file main.cpp.
◆ motion_model_sigma
| double beluga::tutorial::Parameters::motion_model_sigma {1.0} |
Motion model standard deviation, in meters per second (m/s).
Models the uncertainty in the robot's estimate of its own velocity.
Definition at line 66 of file main.cpp.
◆ number_of_cycles
| std::size_t beluga::tutorial::Parameters::number_of_cycles {100} |
Number of simulation cycles.
Definition at line 48 of file main.cpp.
◆ number_of_particles
| std::size_t beluga::tutorial::Parameters::number_of_particles {300} |
Fixed number of particles used by the algorithm.
Definition at line 45 of file main.cpp.
◆ record_path
| std::filesystem::path beluga::tutorial::Parameters::record_path {"./record.yaml"} |
Dataset path.
The dataset file is used to save the data produced by the simulation for posterior analisys.
Definition at line 90 of file main.cpp.
◆ sensor_model_sigma
| double beluga::tutorial::Parameters::sensor_model_sigma {1.0} |
Sensor model standard deviation, in meters (m).
Models the uncertainty in range measurements to landmarks.
Definition at line 75 of file main.cpp.
◆ sensor_range
| double beluga::tutorial::Parameters::sensor_range {3.0} |
Sensor field of view, in meters (m).
Definition at line 69 of file main.cpp.
◆ velocity
| double beluga::tutorial::Parameters::velocity {1.0} |
Constant robot velocity, in meters per second (m/s).
Definition at line 60 of file main.cpp.
The documentation for this struct was generated from the following file: