Public Member Functions | Public Attributes
GMapping::GridSlamProcessor::Particle Struct Reference

#include <gridslamprocessor.h>

List of all members.

Public Member Functions

 operator double () const
 operator OrientedPoint () const
 Particle (const ScanMatcherMap &map)
void setWeight (double w)

Public Attributes

double gweight
ScanMatcherMap map
TNodenode
OrientedPoint pose
int previousIndex
OrientedPoint previousPose
double weight
double weightSum

Detailed Description

This class defines a particle of the filter. Each particle has a map, a pose, a weight and retains the current node in the trajectory tree

Definition at line 88 of file gridslamprocessor.h.


Constructor & Destructor Documentation

constructs a particle, given a map

Parameters:
map,:the particle map

Definition at line 236 of file gridslamprocessor.cpp.


Member Function Documentation

GMapping::GridSlamProcessor::Particle::operator double ( ) const [inline]
Returns:
the weight of a particle

Definition at line 95 of file gridslamprocessor.h.

GMapping::GridSlamProcessor::Particle::operator OrientedPoint ( ) const [inline]
Returns:
the pose of a particle

Definition at line 97 of file gridslamprocessor.h.

sets the weight of a particle

Parameters:
wthe weight

Definition at line 101 of file gridslamprocessor.h.


Member Data Documentation

Definition at line 116 of file gridslamprocessor.h.

The map

Definition at line 103 of file gridslamprocessor.h.

Entry to the trajectory tree

Definition at line 122 of file gridslamprocessor.h.

The pose of the robot

Definition at line 105 of file gridslamprocessor.h.

The index of the previous particle in the trajectory tree

Definition at line 119 of file gridslamprocessor.h.

The pose of the robot at the previous time frame (used for computing thr odometry displacements)

Definition at line 108 of file gridslamprocessor.h.

The weight of the particle

Definition at line 111 of file gridslamprocessor.h.

The cumulative weight of the particle

Definition at line 114 of file gridslamprocessor.h.


The documentation for this struct was generated from the following files:


openslam_gmapping
Author(s): Giorgio Grisetti, Cyrill Stachniss, Wolfram Burgard
autogenerated on Thu Jun 6 2019 19:25:13