Particle Struct Reference

Structure representing a single particle in the AMCL algorithm. More...

#include <AMCLLocalizer.hpp>

Collaboration diagram for Particle:

Public Attributes
float	hits
	Number of sensor matches (hits) for this particle.
::navmap::NavCelId	last_cid = std::numeric_limits<uint32_t>::max()
std::size_t	last_surface = 0
tf2::Transform	pose
	Estimated pose of the particle.
float	possible_hits
	Maximum number of possible hits.
double	weight
	Normalized importance weight of the particle.

Detailed Description

Structure representing a single particle in the AMCL algorithm.

Member Data Documentation

hits

float hits

Number of sensor matches (hits) for this particle.

last_cid

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

last_surface

std::size_t last_surface = 0

pose

tf2::Transform pose

Estimated pose of the particle.

possible_hits

float possible_hits

Maximum number of possible hits.

weight

double weight

Normalized importance weight of the particle.

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The documentation for this struct was generated from the following file:

• localizers/easynav_navmap_localizer/include/easynav_navmap_localizer/AMCLLocalizer.hpp