Parameters used to construct a LikelihoodFieldModel instance. More...
#include <likelihood_field_model.hpp>
Public Attributes | |
| double | max_laser_distance = 2.0 |
| Maximum range of a laser ray. More... | |
| double | max_obstacle_distance = 100.0 |
| Maximum distance to obstacle. More... | |
| double | sigma_hit = 0.2 |
| Standard deviation of a gaussian centered arounds obstacles. More... | |
| double | z_hit = 0.5 |
| Weight used to combine the probability of hitting an obstacle. More... | |
| double | z_random = 0.5 |
| Weight used to combine the probability of random noise in perception. More... | |
Parameters used to construct a LikelihoodFieldModel instance.
See Probabilistic Robotics [thrun2005probabilistic] Chapter 6.4, particularly Table 6.3.
Definition at line 43 of file likelihood_field_model.hpp.
| double beluga::LikelihoodFieldModelParam::max_laser_distance = 2.0 |
Maximum range of a laser ray.
Definition at line 51 of file likelihood_field_model.hpp.
| double beluga::LikelihoodFieldModelParam::max_obstacle_distance = 100.0 |
Maximum distance to obstacle.
When creating a distance map, if the distance to an obstacle is higher than the value specified here, then this value will be used.
Definition at line 49 of file likelihood_field_model.hpp.
| double beluga::LikelihoodFieldModelParam::sigma_hit = 0.2 |
Standard deviation of a gaussian centered arounds obstacles.
Used to calculate the probability of the obstacle being hit.
Definition at line 60 of file likelihood_field_model.hpp.
| double beluga::LikelihoodFieldModelParam::z_hit = 0.5 |
Weight used to combine the probability of hitting an obstacle.
Definition at line 53 of file likelihood_field_model.hpp.
| double beluga::LikelihoodFieldModelParam::z_random = 0.5 |
Weight used to combine the probability of random noise in perception.
Definition at line 55 of file likelihood_field_model.hpp.