pmap_t Struct Reference

Structure describing the map. More...

#include <pmap.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.
double	grid_res
	Grid dimensions.
int	traj_size
	Grid and trajectory dimensions (for copying samples).
int	grid_size
	Grid and trajectory dimensions (for copying samples).
matrix44_t	action_model
	Action model (coefficients for action distribution).
double	max_err
	Maximum error value.
int	resample_interval
	Interval (map update steps) between resampling.
double	resample_s
	Standard deviation (sigma) value for resampling.
int	num_nbors
	Neighborhood LUT.
int	scan_count
	Number of scans processed.
int	step_count
	Number of scans added to the sample map/trajectories.
int	step_max_count
	Maximum number of scans that can be added to the map/trajectories.
pmap_scan_t *	scans
	List of stored range scans.
int	samples_len
	Number of samples and current working sample set.
int	sample_set
	Number of samples and current working sample set.
pmap_sample_t *	samples
	List of samples (multiple sets, indexed by sample_set).
int	best_sample
	Index of "best" sample.
pose2_t	initial_pose
	Initial robot pose.
pose2_t	odom_pose
	Current odometric settings.
double	update_dist
	Odometer setting of last update.
double	update_turn
	Odometer setting of last update.
int	resample_count
	Pose count at last resample.
gsl_rng *	rng
	Random number generator.

---

Detailed Description

Structure describing the map.

---

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

• pmap.h

---