Class Laser

• Defined in File laser.hpp

Inheritance Relationships

Derived Types

• public nav2_amcl::BeamModel (Class BeamModel)

• public nav2_amcl::LikelihoodFieldModel (Class LikelihoodFieldModel)

• public nav2_amcl::LikelihoodFieldModelProb (Class LikelihoodFieldModelProb)

Class Documentation

class Laser

Subclassed by nav2_amcl::BeamModel, nav2_amcl::LikelihoodFieldModel, nav2_amcl::LikelihoodFieldModelProb

Public Functions

Laser(size_t max_beams, map_t *map)

A Laser constructor.

Parameters:

• max_beams – number of beams to use

• map – Map pointer to use

virtual ~Laser()

virtual bool sensorUpdate(pf_t *pf, LaserData *data) = 0

void SetLaserPose(pf_vector_t &laser_pose)

Protected Functions

void reallocTempData(int max_samples, int max_obs)

Protected Attributes

double z_hit_

double z_rand_

double sigma_hit_

map_t *map_

pf_vector_t laser_pose_

int max_beams_

int max_samples_

int max_obs_

double **temp_obs_