Struct LikelihoodFieldModelParam
Defined in File likelihood_field_model.hpp
Struct Documentation
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struct LikelihoodFieldModelParam
Parameters used to construct a LikelihoodFieldModel instance.
See Probabilistic Robotics thrun2005probabilistic Chapter 6.4, particularly Table 6.3.
Public Members
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double max_obstacle_distance = 100.0
Maximum distance to obstacle.
When creating a distance map, if the distance to an obstacle is higher than the value specified here, then this value will be used.
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double max_laser_distance = 2.0
Maximum range of a laser ray.
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double z_hit = 0.5
Weight used to combine the probability of hitting an obstacle.
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double z_random = 0.5
Weight used to combine the probability of random noise in perception.
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double sigma_hit = 0.2
Standard deviation of a gaussian centered arounds obstacles.
Used to calculate the probability of the obstacle being hit.
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bool model_unknown_space = false
Whether to model unknown space or assume it free.
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double max_obstacle_distance = 100.0