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9 #ifndef CRejectionSamplingRangeOnlyLocalization_H
10 #define CRejectionSamplingRangeOnlyLocalization_H
59 bool autoCheckAngleRanges =
true);
85 TDataPerBeacon() : sensorOnRobot(), beaconPosition(), radiusAtRobotPlane(0),minAngle(0),maxAngle(0)
mrpt::math::TPoint2D beaconPosition
A base class for implementing rejection sampling in a generic state space.
mrpt::poses::CPose2D m_oldPose
mrpt::maps::CLandmarksMap CLandmarksMap
Backward compatible typedef.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
An implementation of rejection sampling for generating 2D robot pose from range-only measurements wit...
size_t m_drawIndex
The index in "m_dataPerBeacon" used to draw samples (the rest will be used to evaluate the likelihood...
Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...
A class used to store a 2D pose.
std::deque< TDataPerBeacon > m_dataPerBeacon
Data for each beacon observation with a correspondence with the map.
Data for each beacon observation with a correspondence with the map.
virtual ~CRejectionSamplingRangeOnlyLocalization()
Destructor.
float m_z_robot
Z coordinate of the robot.
mrpt::math::TPoint3D sensorOnRobot
A class for storing a map of 3D probabilistic landmarks.
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