lodo_t Struct Reference

Laser odometry module data. More...

#include <lodo.h>

List of all members.

Public Attributes
int	num_ranges
	Number of points in each scan.
double	range_max
	Maximum accepted range.
double	range_start
	Start angle for scans.
double	range_step
	Angular resolution of scans.
pose2_t	laser_pose
	Laser pose relative to robot.
double	max_error
	Maximum error value on a single point (m).
int	pef_num_ranges
	Number of bins in polar error function.
int	pef_num_bearings
	Number of bins in polar error function.
double	pef_range_start
	Range bin starting value and resolution in polar error function.
double	pef_range_step
	Range bin starting value and resolution in polar error function.
double	pef_bearing_start
double	pef_bearing_step
int	pef_size
	Polar error function (map).
double	fit_interval
double	fit_err_thresh
double	fit_outlier_dist
double	fit_outlier_frac
double	odom_dist
	Cumulative odometric distance and rotation.
double	odom_turn
	Cumulative odometric distance and rotation.
double	map_dist_interval
	Odometer interval for adding scans.
double	map_turn_interval
	Odometer interval for adding scans.
double	map_last_dist
	Odometer value of last scan in map.
double	map_last_turn
	Odometer value of last scan in map.
int	map_scan_count
	Map (ring buffer of scans).
int	max_map_scans
	Map (ring buffer of scans).
int	scan_count
	Current scan.
lodo_scan_point_t	scan_points [LODO_MAX_RANGES]
	Working space for current scan (useful pre-computed values).
int	num_map_points
	Working space for projected map points.
int	max_map_points
	Working space for projected map points.
gsl_min_fminimizer *	mini
	Minimizer.
double	fit_correct
	Fit correction.
int	fit_valid
	True if last scan fitted.
int	fit_add
	True if the last scan should be added to the map.

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Detailed Description

Laser odometry module data.

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Member Data Documentation

double lodo_t::pef_bearing_start

Bearing bin starting value and resolution in polar error function. Note that the pef_bearing_step measures a distance, not an angle.

double lodo_t::pef_bearing_step

Bearing bin starting value and resolution in polar error function. Note that the pef_bearing_step measures a distance, not an angle.

double lodo_t::fit_interval

Search interval for fitting (fitting will check interval [-fit_interval, +fit_interval] radians).

double lodo_t::fit_err_thresh

Error threshold for good fits (error must be less than this value for a good fit).

double lodo_t::fit_outlier_dist

Error value for outlier points (points with error values larger than this are labeled as outliers).

double lodo_t::fit_outlier_frac

Outlier fraction threshold (used to decide when scans should be added to the map).

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

• lodo.h

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