beluga::NDTSensorModel< SparseGridT > Class Template Reference

NDT sensor model for range finders. More...

#include <ndt_sensor_model.hpp>

Public Types
using	map_type = SparseGridT
	Map representation type. More...
using	measurement_type = std::vector< Eigen::Vector< typename ndt_cell_type::scalar_type, ndt_cell_type::num_dim > >
	Measurement type of the sensor: a point cloud for the range finder. More...
using	ndt_cell_type = typename SparseGridT::mapped_type
	NDT Cell type. More...
using	param_type = NDTModelParam< ndt_cell_type::num_dim >
	Parameter type that the constructor uses to configure the NDT sensor model. More...
using	state_type = std::conditional_t< ndt_cell_type::num_dim==2, Sophus::SE2< typename ndt_cell_type::scalar_type >, Sophus::SE3< typename ndt_cell_type::scalar_type > >
	State type of a particle. More...
using	weight_type = double
	Weight type of the particle. More...

Public Member Functions
double	likelihood_at (const ndt_cell_type &measurement) const
	NDTSensorModel (param_type params, SparseGridT cells_data)
	Constructs a NDTSensorModel instance. More...
auto	operator() (measurement_type &&points) const
	Returns a state weighting function conditioned on 2D / 3D lidar hits. More...

Private Attributes
const SparseGridT	cells_data_
const param_type	params_

Detailed Description

template<typename SparseGridT>
class beluga::NDTSensorModel< SparseGridT >

NDT sensor model for range finders.

This class satisfies Beluga named requirements: SensorModel.

Template Parameters

SparseGridT

Type representing a sparse NDT grid, as a specialization of 'beluga::SparseValueGrid'.

Definition at line 172 of file ndt_sensor_model.hpp.

Member Typedef Documentation

map_type

template<typename SparseGridT >

using beluga::NDTSensorModel< SparseGridT >::map_type = SparseGridT

Map representation type.

Definition at line 190 of file ndt_sensor_model.hpp.

measurement_type

template<typename SparseGridT >

using beluga::NDTSensorModel< SparseGridT >::measurement_type = std::vector<Eigen::Vector<typename ndt_cell_type::scalar_type, ndt_cell_type::num_dim> >

Measurement type of the sensor: a point cloud for the range finder.

Definition at line 188 of file ndt_sensor_model.hpp.

ndt_cell_type

template<typename SparseGridT >

using beluga::NDTSensorModel< SparseGridT >::ndt_cell_type = typename SparseGridT::mapped_type

NDT Cell type.

Definition at line 175 of file ndt_sensor_model.hpp.

param_type

template<typename SparseGridT >

using beluga::NDTSensorModel< SparseGridT >::param_type = NDTModelParam<ndt_cell_type::num_dim>

Parameter type that the constructor uses to configure the NDT sensor model.

Definition at line 192 of file ndt_sensor_model.hpp.

state_type

template<typename SparseGridT >

using beluga::NDTSensorModel< SparseGridT >::state_type = std::conditional_t< ndt_cell_type::num_dim == 2, Sophus::SE2<typename ndt_cell_type::scalar_type>, Sophus::SE3<typename ndt_cell_type::scalar_type> >

State type of a particle.

Definition at line 184 of file ndt_sensor_model.hpp.

weight_type

template<typename SparseGridT >

using beluga::NDTSensorModel< SparseGridT >::weight_type = double

Weight type of the particle.

Definition at line 186 of file ndt_sensor_model.hpp.

Constructor & Destructor Documentation

NDTSensorModel()

template<typename SparseGridT >

beluga::NDTSensorModel< SparseGridT >::NDTSensorModel ( param_type  params, SparseGridT  cells_data  )

inline

Constructs a NDTSensorModel instance.

Parameters

params	Parameters to configure this instance. See beluga::NDTModelParam for details.
cells_data	Sparse grid representing an NDT map, used for calculating importance weights for the different particles.

Definition at line 201 of file ndt_sensor_model.hpp.

Member Function Documentation

likelihood_at()

template<typename SparseGridT >

double beluga::NDTSensorModel< SparseGridT >::likelihood_at ( const ndt_cell_type &  measurement ) const

inline

Returns the L2 likelihood scaled by 'd1' and 'd2' set in the parameters for this instance for 'measurement', for the neighbors kernel cells around the measurement cell, or 'params_.min_likelihood', whichever is higher.

Definition at line 223 of file ndt_sensor_model.hpp.

operator()()

template<typename SparseGridT >

auto beluga::NDTSensorModel< SparseGridT >::operator() ( measurement_type &&  points ) const

inline

Returns a state weighting function conditioned on 2D / 3D lidar hits.

Parameters

points

Lidar hit points in the reference frame of particle states.

Returns

a state weighting function satisfying Beluga named requirements: StateWeightingFunction and borrowing a reference to this sensor model (and thus their lifetime are bound).

Definition at line 212 of file ndt_sensor_model.hpp.

Member Data Documentation

cells_data_

template<typename SparseGridT >

const SparseGridT beluga::NDTSensorModel< SparseGridT >::cells_data_

private

Definition at line 237 of file ndt_sensor_model.hpp.

params_

template<typename SparseGridT >

const param_type beluga::NDTSensorModel< SparseGridT >::params_

private

Definition at line 236 of file ndt_sensor_model.hpp.

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The documentation for this class was generated from the following file:

• ndt_sensor_model.hpp