Struct containing parameters for the Adaptive Monte Carlo Localization (AMCL) implementation. More...
#include <amcl_core.hpp>
Public Attributes | |
| double | alpha_fast = 0.1 |
| Used as part of the recovery mechanism when considering how many random particles to insert. More... | |
| double | alpha_slow = 0.001 |
| Used as part of the recovery mechanism when considering how many random particles to insert. More... | |
| double | kld_epsilon = 0.05 |
| Used as part of the kld sampling mechanism. More... | |
| double | kld_z = 3.0 |
| Used as part of the kld sampling mechanism. More... | |
| std::size_t | max_particles = 2000UL |
| Maximum number of particles in the filter at any point in time. More... | |
| std::size_t | min_particles = 500UL |
| Minimum number of particles in the filter at any point in time. More... | |
| std::size_t | resample_interval = 1UL |
| Filter iterations interval at which a resampling will happen, unitless. More... | |
| bool | selective_resampling = false |
| Whether to use selective resampling or not. More... | |
| double | update_min_a = 0.2 |
| Min angular distance in radians between updates. More... | |
| double | update_min_d = 0.25 |
| Min distance in meters between updates. More... | |
Struct containing parameters for the Adaptive Monte Carlo Localization (AMCL) implementation.
Definition at line 33 of file amcl_core.hpp.
| double beluga::AmclParams::alpha_fast = 0.1 |
Used as part of the recovery mechanism when considering how many random particles to insert.
Definition at line 49 of file amcl_core.hpp.
| double beluga::AmclParams::alpha_slow = 0.001 |
Used as part of the recovery mechanism when considering how many random particles to insert.
Definition at line 47 of file amcl_core.hpp.
| double beluga::AmclParams::kld_epsilon = 0.05 |
Used as part of the kld sampling mechanism.
Definition at line 51 of file amcl_core.hpp.
| double beluga::AmclParams::kld_z = 3.0 |
Used as part of the kld sampling mechanism.
Definition at line 53 of file amcl_core.hpp.
| std::size_t beluga::AmclParams::max_particles = 2000UL |
Maximum number of particles in the filter at any point in time.
Definition at line 45 of file amcl_core.hpp.
| std::size_t beluga::AmclParams::min_particles = 500UL |
Minimum number of particles in the filter at any point in time.
Definition at line 43 of file amcl_core.hpp.
| std::size_t beluga::AmclParams::resample_interval = 1UL |
Filter iterations interval at which a resampling will happen, unitless.
Definition at line 39 of file amcl_core.hpp.
| bool beluga::AmclParams::selective_resampling = false |
Whether to use selective resampling or not.
Definition at line 41 of file amcl_core.hpp.
| double beluga::AmclParams::update_min_a = 0.2 |
Min angular distance in radians between updates.
Definition at line 37 of file amcl_core.hpp.
| double beluga::AmclParams::update_min_d = 0.25 |
Min distance in meters between updates.
Definition at line 35 of file amcl_core.hpp.