beluga::NDTModelParam< NDim > Struct Template Reference

Parameters used to construct a NDTSensorModel instance. More...

#include <ndt_sensor_model.hpp>

Public Attributes
double	d1 = 1.0
	Scaling parameter d1 in literature, used for scaling likelihoods. More...
double	d2 = 1.0
	Scaling parameter d2 in literature, used for scaling likelihoods. More...
double	minimum_likelihood = 0
	Likelihood for measurements that lie inside cells that are not present in the map. More...
std::conditional_t< NDim==2, std::vector< Eigen::Vector2i >, std::vector< Eigen::Vector3i > >	neighbors_kernel
	Neighbor kernel used for likelihood computation. More...

Detailed Description

template<int NDim>
struct beluga::NDTModelParam< NDim >

Parameters used to construct a NDTSensorModel instance.

Definition at line 147 of file ndt_sensor_model.hpp.

Member Data Documentation

d1

template<int NDim>

double beluga::NDTModelParam< NDim >::d1 = 1.0

Scaling parameter d1 in literature, used for scaling likelihoods.

Definition at line 152 of file ndt_sensor_model.hpp.

d2

template<int NDim>

double beluga::NDTModelParam< NDim >::d2 = 1.0

Scaling parameter d2 in literature, used for scaling likelihoods.

Definition at line 154 of file ndt_sensor_model.hpp.

minimum_likelihood

template<int NDim>

double beluga::NDTModelParam< NDim >::minimum_likelihood = 0

Likelihood for measurements that lie inside cells that are not present in the map.

Definition at line 150 of file ndt_sensor_model.hpp.

neighbors_kernel

template<int NDim>

std::conditional_t<NDim == 2, std::vector<Eigen::Vector2i>, std::vector<Eigen::Vector3i> > beluga::NDTModelParam< NDim >::neighbors_kernel

Initial value:

=
      detail::get_default_neighbors_kernel<NDim>()

Neighbor kernel used for likelihood computation.

Definition at line 156 of file ndt_sensor_model.hpp.

---

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

• ndt_sensor_model.hpp