Input params for laserScanSimulatorWithUncertainty()
Definition at line 593 of file maps/COccupancyGridMap2D.h.
#include <mrpt/maps/COccupancyGridMap2D.h>
Public Member Functions | |
TLaserSimulUncertaintyParams () | |
Public Attributes | |
TLaserSimulUncertaintyMethod | method |
(Default: sumMonteCarlo) Select the method to do the uncertainty propagation | |
Parameters for each uncertainty method | |
double | UT_alpha |
double | UT_kappa |
double | UT_beta |
[sumUnscented] UT parameters. Defaults: alpha=0.99, kappa=0, betta=2.0 | |
size_t | MC_samples |
[sumMonteCarlo] MonteCarlo parameter: number of samples (Default: 10) | |
Generic parameters for all methods | |
mrpt::poses::CPosePDFGaussian | robotPose |
The robot pose Gaussian, in map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object. | |
float | aperture |
(Default: M_PI) The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees). | |
bool | rightToLeft |
(Default: true) The scanning direction: true=counterclockwise; false=clockwise | |
float | maxRange |
(Default: 80) The maximum range allowed by the device, in meters (e.g. 80m, 50m,...) | |
mrpt::poses::CPose3D | sensorPose |
(Default: at origin) The 6D pose of the sensor on the robot at the moment of starting the scan. | |
size_t | nRays |
float | rangeNoiseStd |
(Default: 0) The standard deviation of measurement noise. If not desired, set to 0 | |
float | angleNoiseStd |
(Default: 0) The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians) | |
unsigned int | decimation |
(Default: 1) The rays that will be simulated are at indexes: 0, D, 2D, 3D,... | |
float | threshold |
(Default: 0.6f) The minimum occupancy threshold to consider a cell to be occupied | |
mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::TLaserSimulUncertaintyParams | ( | ) |
float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::angleNoiseStd |
(Default: 0) The sigma of an optional Gaussian noise added to the angles at which ranges are measured (in radians)
Definition at line 611 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::aperture |
(Default: M_PI) The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees).
Definition at line 605 of file maps/COccupancyGridMap2D.h.
unsigned int mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::decimation |
(Default: 1) The rays that will be simulated are at indexes: 0, D, 2D, 3D,...
Definition at line 612 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::maxRange |
(Default: 80) The maximum range allowed by the device, in meters (e.g. 80m, 50m,...)
Definition at line 607 of file maps/COccupancyGridMap2D.h.
size_t mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::MC_samples |
[sumMonteCarlo] MonteCarlo parameter: number of samples (Default: 10)
Definition at line 599 of file maps/COccupancyGridMap2D.h.
TLaserSimulUncertaintyMethod mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::method |
(Default: sumMonteCarlo) Select the method to do the uncertainty propagation
Definition at line 595 of file maps/COccupancyGridMap2D.h.
size_t mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::nRays |
Definition at line 609 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::rangeNoiseStd |
(Default: 0) The standard deviation of measurement noise. If not desired, set to 0
Definition at line 610 of file maps/COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::rightToLeft |
(Default: true) The scanning direction: true=counterclockwise; false=clockwise
Definition at line 606 of file maps/COccupancyGridMap2D.h.
mrpt::poses::CPosePDFGaussian mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::robotPose |
The robot pose Gaussian, in map coordinates. Recall that sensor pose relative to this robot pose must be specified in the observation object.
Definition at line 604 of file maps/COccupancyGridMap2D.h.
mrpt::poses::CPose3D mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::sensorPose |
(Default: at origin) The 6D pose of the sensor on the robot at the moment of starting the scan.
Definition at line 608 of file maps/COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::threshold |
(Default: 0.6f) The minimum occupancy threshold to consider a cell to be occupied
Definition at line 613 of file maps/COccupancyGridMap2D.h.
double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_alpha |
Definition at line 598 of file maps/COccupancyGridMap2D.h.
double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_beta |
[sumUnscented] UT parameters. Defaults: alpha=0.99, kappa=0, betta=2.0
Definition at line 598 of file maps/COccupancyGridMap2D.h.
double mrpt::maps::COccupancyGridMap2D::TLaserSimulUncertaintyParams::UT_kappa |
Definition at line 598 of file maps/COccupancyGridMap2D.h.
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