Struct ProjectiveIntegratorConfig

Inheritance Relationships

Base Type

Struct Documentation

struct ProjectiveIntegratorConfig : public wavemap::ConfigBase<ProjectiveIntegratorConfig, 4>

Config struct for projective integrators.

Public Functions

ProjectiveIntegratorConfig() = default
inline ProjectiveIntegratorConfig(FloatingPoint min_range, FloatingPoint max_range)
virtual bool isValid(bool verbose) const override

Public Members

Meters<FloatingPoint> min_range = 0.5f

Minimum range measurements should have to be considered.

Measurements below this threshold are ignored.

Meters<FloatingPoint> max_range = 20.f

Maximum range up to which to update the map.

Measurements that exceed this range are used as free-space beams, up to the maximum range.

NdtreeIndexElement termination_height = 0

Maximum resolution to use for this integrator, set as the height at which to terminate the coarse-to-fine measurement updates.

Defaults to 0 (max res). Can be set to 1 for 1/2 of the max resolution, to 2 for 1/4 of the max resolution, etc.This can be used to fuse multiple inputs with different maximum resolutions into a single map.

FloatingPoint termination_update_error = 0.1f

The update error threshold at which the coarse-to-fine measurement integrator is allowed to terminate, in log-odds.

For more information, please refer to: https://www.roboticsproceedings.org/rss19/p065.pdf.

Public Static Attributes

static MemberMap memberMap