Struct DifferentialDriveModelParam

• Defined in File differential_drive_model.hpp

Struct Documentation

struct DifferentialDriveModelParam

Parameters to construct a DifferentialDriveModel instance.

See Probabilistic Robotics thrun2005probabilistic Chapter 5.4.2, particularly table 5.6.

Public Members

double rotation_noise_from_rotation

Rotational noise from rotation.

How much rotational noise is generated by the relative rotation between the last two odometry updates. Also known as alpha1.

double rotation_noise_from_translation

Rotational noise from translation.

How much rotational noise is generated by the relative translation between the last two odometry updates. Also known as alpha2.

double translation_noise_from_translation

Translational noise from translation.

How much translational noise is generated by the relative translation between the last two odometry updates. Also known as alpha3.

double translation_noise_from_rotation

Translational noise from rotation.

How much translational noise is generated by the relative rotation between the last two odometry updates. Also known as alpha4.

double distance_threshold = 0.01

Distance threshold to detect in-place rotation.