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