Struct AmclParams

Struct Documentation

struct AmclParams

Struct containing parameters for the Adaptive Monte Carlo Localization (AMCL) implementation.

Public Members

double update_min_d = 0.25

Min distance in meters between updates.

double update_min_a = 0.2

Min angular distance in radians between updates.

std::size_t resample_interval = 1UL

Filter iterations interval at which a resampling will happen, unitless.

bool selective_resampling = false

Whether to use selective resampling or not.

std::size_t min_particles = 500UL

Minimum number of particles in the filter at any point in time.

std::size_t max_particles = 2000UL

Maximum number of particles in the filter at any point in time.

double alpha_slow = 0.001

Used as part of the recovery mechanism when considering how many random particles to insert.

double alpha_fast = 0.1

Used as part of the recovery mechanism when considering how many random particles to insert.

double kld_epsilon = 0.05

Used as part of the kld sampling mechanism.

double kld_z = 3.0

Used as part of the kld sampling mechanism.