Parameters to construct an OmnidirectionalDriveModel instance. More...
#include <omnidirectional_drive_model.hpp>
Public Attributes | |
| double | distance_threshold = 0.01 |
| Distance threshold to detect in-place rotation. More... | |
| double | rotation_noise_from_rotation |
| Rotational noise from rotation. More... | |
| double | rotation_noise_from_translation |
| Rotational noise from translation. More... | |
| double | strafe_noise_from_translation |
| Translational strafe noise from translation. More... | |
| double | translation_noise_from_rotation |
| Translational noise from rotation. More... | |
| double | translation_noise_from_translation |
| Translational noise from translation. More... | |
Parameters to construct an OmnidirectionalDriveModel instance.
Definition at line 36 of file omnidirectional_drive_model.hpp.
| double beluga::OmnidirectionalDriveModelParam::distance_threshold = 0.01 |
Distance threshold to detect in-place rotation.
Definition at line 71 of file omnidirectional_drive_model.hpp.
| double beluga::OmnidirectionalDriveModelParam::rotation_noise_from_rotation |
Rotational noise from rotation.
How much rotational noise is generated by the relative rotation between the last two odometry updates. Also known as alpha1.
Definition at line 42 of file omnidirectional_drive_model.hpp.
| double beluga::OmnidirectionalDriveModelParam::rotation_noise_from_translation |
Rotational noise from translation.
How much rotational noise is generated by the relative translation between the last two odometry updates. Also known as alpha2.
Definition at line 48 of file omnidirectional_drive_model.hpp.
| double beluga::OmnidirectionalDriveModelParam::strafe_noise_from_translation |
Translational strafe noise from translation.
How much translational noise in strafe is generated by the relative translation between the last two odometry updates. Also known as alpha5.
Definition at line 68 of file omnidirectional_drive_model.hpp.
| double beluga::OmnidirectionalDriveModelParam::translation_noise_from_rotation |
Translational noise from rotation.
How much translational noise is generated by the relative rotation between the last two odometry updates. Also known as alpha4.
Definition at line 61 of file omnidirectional_drive_model.hpp.
| double beluga::OmnidirectionalDriveModelParam::translation_noise_from_translation |
Translational noise from translation.
How much translational in longitudinal noise is generated by the relative translation between the last two odometry updates. Also known as alpha3.
Definition at line 55 of file omnidirectional_drive_model.hpp.