24 #ifndef HUMANOID_LOCALIZATION_MAPMODEL_H_ 25 #define HUMANOID_LOCALIZATION_MAPMODEL_H_ 30 #include <octomap_msgs/GetOctomap.h> 53 double z,
double roll,
double pitch,
71 void getHeightlist(
double x,
double y,
double totalHeight, std::vector<double>& heights);
virtual void verifyPoses(Particles &particles)
MapModel(ros::NodeHandle *nh)
boost::shared_ptr< octomap::OcTree > getMap() const
boost::variate_generator< EngineT &, NormalDistributionT > NormalGeneratorT
standard normal-distributed noise
TFSIMD_FORCE_INLINE const tfScalar & y() const
boost::shared_ptr< octomap::OcTree > m_map
boost::variate_generator< EngineT &, UniformDistributionT > UniformGeneratorT
uniform noise in range [0,1)
Eigen::Matrix< double, 6, 1 > Vector6d
TFSIMD_FORCE_INLINE const tfScalar & x() const
virtual bool isOccupied(const octomap::point3d &position) const
virtual void initGlobal(Particles &particles, double z, double roll, double pitch, const Vector6d &initNoise, UniformGeneratorT &rngUniform, NormalGeneratorT &rngNormal)
double m_motionObstacleDist
TFSIMD_FORCE_INLINE const tfScalar & z() const
void getHeightlist(double x, double y, double totalHeight, std::vector< double > &heights)
virtual double getFloorHeight(const tf::Transform &pose) const =0
double m_motionRangePitch
std::vector< Particle > Particles