LocalizationParticleDistributionPolicy< ParticleT > Class Template Reference
#include <LocalizationParticle.h>
Inheritance diagram for LocalizationParticleDistributionPolicy< ParticleT >:
Detailed Description
template<typename ParticleT>
class LocalizationParticleDistributionPolicy< ParticleT >
Provides parameters and methods for randomizing and tweaking LocalizationParticles.
Definition at line 40 of file LocalizationParticle.h.
Public Types | |
| typedef ParticleT | particle_type |
| just for convenience | |
|
typedef ParticleFilter< ParticleT >::index_t | index_t |
| just for convenience | |
Public Member Functions | |
| LocalizationParticleDistributionPolicy () | |
| constructor -- by default, coordinates will range from -1000 to 1000 for x and y, with variance of 50 and 0.18 for position and orientation | |
| virtual void | randomize (particle_type *begin, index_t num) |
| virtual void | jiggle (float var, particle_type *begin, index_t num) |
Public Attributes | |
| float | mapMinX |
| specifies the low end of x coordinates during randomize() | |
| float | mapWidth |
| along with mapMinX, specifies the range of x coordinates to be used during randomize() | |
| float | mapMinY |
| specifies the low end of y coordinates during randomize() | |
| float | mapHeight |
| along with mapMinY, specifies the range of y coordinates to be used during randomize() | |
| float | positionVariance |
| controls how much the x and y parameters will be modified during jiggle() | |
| float | orientationVariance |
| controls how much the orientation (theta) parameter will be modified during jiggle() | |
The documentation for this class was generated from the following file:
