RobotLocation Class Reference

Public Member Functions
	RobotLocation (double odom_noise_x, double odom_noise_y, double odom_noise_th)
void	SetPoses (double ox, double oy, double oth, double gx, double gy, double gth)
	Inform the current odometric and global (map) pose.
void	SetCurrentError (double ex, double ey, double eth)
	Inform the error for the initial pose Robot is expected to be at x +/- (ex/2)
SegmentMap &	map (void)
const SegmentMap &	map (void) const
bool	Locate (const Transf odom, const Scan s)
void	PrintState () const
Pose	EstimatedPose (void) const
MatrixXd	Covariance (void) const

Public Attributes
const double	odom_noise_x_
const double	odom_noise_y_
const double	odom_noise_th_

Private Member Functions
void	Prediction ()
void	Update (ObservedFeatures obs)

Private Attributes
Uloc	XwRk_1
Uloc	XwRk
Transf	odomk_1
Transf	odomk
SegmentMap	map_
bool	first_update_

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The documentation for this class was generated from the following files:

• robot_location.hh
• robot_location.cc