Struct Particle

• Defined in File AMCLLocalizer.hpp

Struct Documentation

struct Particle

Structure representing a single particle in the AMCL algorithm.

Public Members

tf2::Transform pose

Estimated pose of the particle.

float hits

Number of sensor matches (hits) for this particle.

float possible_hits

Maximum number of possible hits.

double weight

Normalized importance weight of the particle.

::navmap::NavCelId last_cid = std::numeric_limits<uint32_t>::max()

std::size_t last_surface = 0