mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel Struct Reference

Detailed Description

Options for the Thrun's model, which generates a CPosePDFParticles object in poseChange.

Definition at line 138 of file CActionRobotMovement2D.h.

#include <mrpt/slam/CActionRobotMovement2D.h>

Public Attributes
uint32_t	nParticlesCount
	The default number of particles to generate in a internal representation (anyway you can draw as many samples as you want through CActionRobotMovement2D::drawSingleSample)
float	alfa1_rot_rot
float	alfa2_rot_trans
float	alfa3_trans_trans
float	alfa4_trans_rot
float	additional_std_XY
	An additional noise added to the thrun model (std.
float	additional_std_phi

Member Data Documentation

float mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_phi

Definition at line 151 of file CActionRobotMovement2D.h.

float mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_XY

An additional noise added to the thrun model (std.

dev. in meters and radians).

Definition at line 151 of file CActionRobotMovement2D.h.

float mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa1_rot_rot

Definition at line 144 of file CActionRobotMovement2D.h.

float mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa2_rot_trans

Definition at line 145 of file CActionRobotMovement2D.h.

float mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa3_trans_trans

Definition at line 146 of file CActionRobotMovement2D.h.

float mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa4_trans_rot

Definition at line 147 of file CActionRobotMovement2D.h.

uint32_t mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::nParticlesCount

The default number of particles to generate in a internal representation (anyway you can draw as many samples as you want through CActionRobotMovement2D::drawSingleSample)

Definition at line 142 of file CActionRobotMovement2D.h.