#include <ndt_mcl.hpp>

Public Member Functions
Eigen::Vector3d	getMean ()
void	initializeFilter (double x, double y, double yaw, double x_e, double y_e, double yaw_e, int numParticles)
	NDTMCL (double map_resolution, lslgeneric::NDTMap< PointT > &nd_map, double zfilter)
void	updateAndPredict (Eigen::Affine3d Tmotion, pcl::PointCloud< PointT > &cloud)
Public Attributes
int	counter
bool	forceSIR
lslgeneric::NDTMap< PointT >	map
	This is my map.
mcl::CParticleFilter	pf
	This is the particle filter.
double	resolution
double	zfilt_min
Private Member Functions
Eigen::Affine3d	getAsAffine (int i)
Private Attributes
bool	isInit
int	sinceSIR

Detailed Description

template<typename PointT>
class NDTMCL< PointT >

NDT MCL - Class implementation

Definition at line 21 of file ndt_mcl.hpp.

Constructor & Destructor Documentation

template<typename PointT>

NDTMCL< PointT >::NDTMCL	(	double	map_resolution,
		lslgeneric::NDTMap< PointT > &	nd_map,
		double	zfilter
	)		`[inline]`

Constructor

First, lets make our target map match the given map This is done because we want (possibly) lower resolution target map

Definition at line 32 of file ndt_mcl.hpp.

Member Function Documentation

template<typename PointT>

Eigen::Affine3d NDTMCL< PointT >::getAsAffine ( int i ) [inline, private]

Definition at line 202 of file ndt_mcl.hpp.

template<typename PointT>

Eigen::Vector3d NDTMCL< PointT >::getMean ( ) [inline]

Definition at line 192 of file ndt_mcl.hpp.

template<typename PointT>

void NDTMCL< PointT >::initializeFilter	(	double	x,
		double	y,
		double	yaw,
		double	x_e,
		double	y_e,
		double	yaw_e,
		int	numParticles
	)		`[inline]`

Intialize filter to some pose and with some number of particles

Definition at line 80 of file ndt_mcl.hpp.

template<typename PointT>

void NDTMCL< PointT >::updateAndPredict	(	Eigen::Affine3d	Tmotion,
		pcl::PointCloud< PointT > &	cloud
	)		`[inline]`

Arla Motion model if(rot[2]<(0.5 * M_PI/180.0) && tr[0]>=0){ pf.predict(mcl::pose(tr[0],tr[1],rot[2]), mcl::pose(tr[0]*0.2 + 0.005,tr[1]*0.1+ 0.005,rot[2]*0.2+0.001)); }else if(tr[0]>=0){ pf.predict(mcl::pose(tr[0],tr[1],rot[2]), mcl::pose(tr[0] + 0.01,tr[1] + 0.01,rot[2]*0.5+0.001)); }else{ pf.predict(mcl::pose(tr[0],tr[1],rot[2]), mcl::pose(tr[0] + 0.02,tr[1] + 0.01,rot[2]*0.8+0.001)); }

Definition at line 84 of file ndt_mcl.hpp.