Struct PFLocalizationNode::Parameters

• Defined in File mrpt_localization_node.h

Nested Relationships

This struct is a nested type of Class PFLocalizationNode.

Inheritance Relationships

Base Type

• public PFLocalization::Parameters (Struct PFLocalization::Parameters)

Struct Documentation

struct Parameters : public PFLocalization::Parameters

Public Functions

Parameters(PFLocalizationNode *p)

void callbackParameters(mrpt_localization::MotionConfig &config, uint32_t level)

void update(const unsigned long &loop_count)

Public Members

ros::NodeHandle node

dynamic_reconfigure::Server<mrpt_localization::MotionConfig> reconfigure_server_

dynamic_reconfigure::Server<mrpt_localization::MotionConfig>::CallbackType reconfigure_cb_

double rate

double transform_tolerance

projection into the future added to

double no_update_tolerance

the published tf to extend its validity

maximum time without updating we keep

double no_inputs_tolerance

using filter time instead of Time::now

maximum time without any observation

int parameter_update_skip

we wait before start complaining

int particlecloud_update_skip

int map_update_skip

std::string base_frame_id

std::string odom_frame_id

std::string global_frame_id

bool update_while_stopped

bool update_sensor_pose

bool pose_broadcast

bool tf_broadcast

bool use_map_topic

bool first_map_only

Public Static Attributes

static const int MOTION_MODEL_GAUSSIAN = 0

static const int MOTION_MODEL_THRUN = 1