Public Member Functions | Static Public Member Functions | Public Attributes | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
gmcl::GMCLLaser Class Reference

#include <gmcl_laser.h>

Inheritance diagram for gmcl::GMCLLaser:
Inheritance graph
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Public Member Functions

 GMCLLaser (size_t max_beams, map_t *map)
 
virtual double PoseWeight (pf_vector_t pose, GMCLLaserData *data)
 
void SetLaserScan (lsensor_scan_t &laser_scan)
 
void SetModelBeam (double z_hit, double z_short, double z_max, double z_rand, double sigma_hit, double lambda_short, double chi_outlier)
 
void SetModelLikelihoodField (double z_hit, double z_rand, double sigma_hit, double max_occ_dist)
 
void SetModelLikelihoodFieldProb (double z_hit, double z_rand, double sigma_hit, double max_occ_dist, bool do_beamskip, double beam_skip_distance, double beam_skip_threshold, double beam_skip_error_threshold)
 
virtual bool UpdateSensor (pf_t *pf, GMCLSensorData *data)
 
virtual ~GMCLLaser ()
 
- Public Member Functions inherited from gmcl::GMCLSensor
 GMCLSensor ()
 
virtual bool InitSensor (pf_t *pf, GMCLSensorData *data)
 
virtual bool UpdateAction (pf_t *pf, GMCLSensorData *data)
 
virtual ~GMCLSensor ()
 

Static Public Member Functions

static bool ReUpdateSensor (pf_t *pf, GMCLSensorData *data)
 

Public Attributes

float range_max
 
float range_min
 
- Public Attributes inherited from gmcl::GMCLSensor
bool is_action
 
pf_vector_t pose
 

Private Member Functions

void reallocTempData (int max_samples, int max_obs)
 

Static Private Member Functions

static void BeamModel (GMCLLaserData *data, pf_sample_set_t *set)
 
static void LikelihoodFieldModel (GMCLLaserData *data, pf_sample_set_t *set)
 
static void LikelihoodFieldModelProb (GMCLLaserData *data, pf_sample_set_t *set)
 

Private Attributes

double beam_skip_distance
 
double beam_skip_error_threshold
 
double beam_skip_threshold
 
double chi_outlier
 
bool do_beamskip
 
double lambda_short
 
pf_vector_t laser_pose
 
map_t * map
 
int max_beams
 
int max_obs
 
int max_samples
 
laser_model_t model_type
 
double sigma_hit
 
double ** temp_obs
 
double time
 
double z_hit
 
double z_max
 
double z_rand
 
double z_short
 

Detailed Description

Definition at line 71 of file gmcl_laser.h.

Constructor & Destructor Documentation

◆ GMCLLaser()

GMCLLaser::GMCLLaser ( size_t  max_beams,
map_t *  map 
)

Definition at line 52 of file gmcl_laser.cpp.

◆ ~GMCLLaser()

GMCLLaser::~GMCLLaser ( )
virtual

Definition at line 64 of file gmcl_laser.cpp.

Member Function Documentation

◆ BeamModel()

void GMCLLaser::BeamModel ( GMCLLaserData *  data,
pf_sample_set_t *  set 
)
staticprivate

Definition at line 211 of file gmcl_laser.cpp.

◆ LikelihoodFieldModel()

void GMCLLaser::LikelihoodFieldModel ( GMCLLaserData *  data,
pf_sample_set_t *  set 
)
staticprivate

Definition at line 458 of file gmcl_laser.cpp.

◆ LikelihoodFieldModelProb()

void GMCLLaser::LikelihoodFieldModelProb ( GMCLLaserData *  data,
pf_sample_set_t *  set 
)
staticprivate

Definition at line 745 of file gmcl_laser.cpp.

◆ PoseWeight()

double GMCLLaser::PoseWeight ( pf_vector_t  pose,
GMCLLaserData *  data 
)
virtual

Definition at line 153 of file gmcl_laser.cpp.

◆ reallocTempData()

void GMCLLaser::reallocTempData ( int  max_samples,
int  max_obs 
)
private

Definition at line 1321 of file gmcl_laser.cpp.

◆ ReUpdateSensor()

static bool gmcl::GMCLLaser::ReUpdateSensor ( pf_t *  pf,
GMCLSensorData *  data 
)
inlinestatic

Definition at line 109 of file gmcl_laser.h.

◆ SetLaserScan()

void gmcl::GMCLLaser::SetLaserScan ( lsensor_scan_t &  laser_scan)
inline

Definition at line 114 of file gmcl_laser.h.

◆ SetModelBeam()

void GMCLLaser::SetModelBeam ( double  z_hit,
double  z_short,
double  z_max,
double  z_rand,
double  sigma_hit,
double  lambda_short,
double  chi_outlier 
)

Definition at line 75 of file gmcl_laser.cpp.

◆ SetModelLikelihoodField()

void GMCLLaser::SetModelLikelihoodField ( double  z_hit,
double  z_rand,
double  sigma_hit,
double  max_occ_dist 
)

Definition at line 94 of file gmcl_laser.cpp.

◆ SetModelLikelihoodFieldProb()

void GMCLLaser::SetModelLikelihoodFieldProb ( double  z_hit,
double  z_rand,
double  sigma_hit,
double  max_occ_dist,
bool  do_beamskip,
double  beam_skip_distance,
double  beam_skip_threshold,
double  beam_skip_error_threshold 
)

Definition at line 108 of file gmcl_laser.cpp.

◆ UpdateSensor()

bool GMCLLaser::UpdateSensor ( pf_t *  pf,
GMCLSensorData *  data 
)
virtual

Reimplemented from gmcl::GMCLSensor.

Definition at line 131 of file gmcl_laser.cpp.

Member Data Documentation

◆ beam_skip_distance

double gmcl::GMCLLaser::beam_skip_distance
private

Definition at line 153 of file gmcl_laser.h.

◆ beam_skip_error_threshold

double gmcl::GMCLLaser::beam_skip_error_threshold
private

Definition at line 157 of file gmcl_laser.h.

◆ beam_skip_threshold

double gmcl::GMCLLaser::beam_skip_threshold
private

Definition at line 154 of file gmcl_laser.h.

◆ chi_outlier

double gmcl::GMCLLaser::chi_outlier
private

Definition at line 177 of file gmcl_laser.h.

◆ do_beamskip

bool gmcl::GMCLLaser::do_beamskip
private

Definition at line 152 of file gmcl_laser.h.

◆ lambda_short

double gmcl::GMCLLaser::lambda_short
private

Definition at line 175 of file gmcl_laser.h.

◆ laser_pose

pf_vector_t gmcl::GMCLLaser::laser_pose
private

Definition at line 144 of file gmcl_laser.h.

◆ map

map_t* gmcl::GMCLLaser::map
private

Definition at line 139 of file gmcl_laser.h.

◆ max_beams

int gmcl::GMCLLaser::max_beams
private

Definition at line 149 of file gmcl_laser.h.

◆ max_obs

int gmcl::GMCLLaser::max_obs
private

Definition at line 161 of file gmcl_laser.h.

◆ max_samples

int gmcl::GMCLLaser::max_samples
private

Definition at line 160 of file gmcl_laser.h.

◆ model_type

laser_model_t gmcl::GMCLLaser::model_type
private

Definition at line 133 of file gmcl_laser.h.

◆ range_max

float gmcl::GMCLLaser::range_max

Definition at line 146 of file gmcl_laser.h.

◆ range_min

float gmcl::GMCLLaser::range_min

Definition at line 146 of file gmcl_laser.h.

◆ sigma_hit

double gmcl::GMCLLaser::sigma_hit
private

Definition at line 173 of file gmcl_laser.h.

◆ temp_obs

double** gmcl::GMCLLaser::temp_obs
private

Definition at line 162 of file gmcl_laser.h.

◆ time

double gmcl::GMCLLaser::time
private

Definition at line 136 of file gmcl_laser.h.

◆ z_hit

double gmcl::GMCLLaser::z_hit
private

Definition at line 167 of file gmcl_laser.h.

◆ z_max

double gmcl::GMCLLaser::z_max
private

Definition at line 169 of file gmcl_laser.h.

◆ z_rand

double gmcl::GMCLLaser::z_rand
private

Definition at line 170 of file gmcl_laser.h.

◆ z_short

double gmcl::GMCLLaser::z_short
private

Definition at line 168 of file gmcl_laser.h.

The documentation for this class was generated from the following files:

gmcl
Author(s): Mhd Ali Alshikh Khalil, adler1994@gmail.com
autogenerated on Wed Mar 2 2022 00:20:15