Introduction | Files | Utilities | Gallery | ToDo list

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.


Detailed Description

Laser odometry module data.


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).


The documentation for this struct was generated from the following file:
Generated on Tue Dec 14 14:37:39 2004 for Simple map utilities by doxygen 1.3.8