Struct BeamModelParam

Struct Documentation

struct BeamModelParam

Parameters used to construct a BeamSensorModel instance.

See Probabilistic Robotics thrun2005probabilistic table 6.2.

Public Members

double z_hit = {0.5}

Weight associated with good but noisy readings.

double z_short = {0.5}

Weight associated with unexpected obstacles.

double z_max = {0.05}

Weight associated with max range readings.

double z_rand = {0.05}

Weight associated with random readings.

double sigma_hit = {0.2}

Standard deviation of the gaussian noise associated with hits.

double lambda_short = {0.1}

Intrinsic parameter assoaciated with short readings distribution.

double beam_max_range = {60}

Maximum beam range. This is the expected value in case of a miss.