Parameters used to construct a BeamSensorModel instance. More...
#include <beam_model.hpp>
Public Attributes | |
| double | beam_max_range {60} |
| Maximum beam range. This is the expected value in case of a miss. More... | |
| double | lambda_short {0.1} |
| Intrinsic parameter assoaciated with short readings distribution. More... | |
| double | sigma_hit {0.2} |
| Standard deviation of the gaussian noise associated with hits. More... | |
| double | z_hit {0.5} |
| Weight associated with good but noisy readings. More... | |
| double | z_max {0.05} |
| Weight associated with max range readings. More... | |
| double | z_rand {0.05} |
| Weight associated with random readings. More... | |
| double | z_short {0.5} |
| Weight associated with unexpected obstacles. More... | |
Parameters used to construct a BeamSensorModel instance.
See Probabilistic Robotics [thrun2005probabilistic] table 6.2.
Definition at line 42 of file beam_model.hpp.
| double beluga::BeamModelParam::beam_max_range {60} |
Maximum beam range. This is the expected value in case of a miss.
Definition at line 56 of file beam_model.hpp.
| double beluga::BeamModelParam::lambda_short {0.1} |
Intrinsic parameter assoaciated with short readings distribution.
Definition at line 54 of file beam_model.hpp.
| double beluga::BeamModelParam::sigma_hit {0.2} |
Standard deviation of the gaussian noise associated with hits.
Definition at line 52 of file beam_model.hpp.
| double beluga::BeamModelParam::z_hit {0.5} |
Weight associated with good but noisy readings.
Definition at line 44 of file beam_model.hpp.
| double beluga::BeamModelParam::z_max {0.05} |
Weight associated with max range readings.
Definition at line 48 of file beam_model.hpp.
| double beluga::BeamModelParam::z_rand {0.05} |
Weight associated with random readings.
Definition at line 50 of file beam_model.hpp.
| double beluga::BeamModelParam::z_short {0.5} |
Weight associated with unexpected obstacles.
Definition at line 46 of file beam_model.hpp.