Template Struct NDTModelParam

• Defined in File ndt_sensor_model.hpp

Struct Documentation

template<int NDim>
struct NDTModelParam

Parameters used to construct a NDTSensorModel instance.

Public Members

double minimum_likelihood = 0

Likelihood for measurements that lie inside cells that are not present in the map.

double d1 = 1.0

Scaling parameter d1 in literature, used for scaling likelihoods.

double d2 = 1.0

Scaling parameter d2 in literature, used for scaling likelihoods.

std::conditional_t<NDim == 2, std::vector<Eigen::Vector2i>, std::vector<Eigen::Vector3i>> neighbors_kernel = detail::get_default_neighbors_kernel<NDim>()

Neighbor kernel used for likelihood computation.