Struct ContinuousBeamConfig
Defined in File continuous_beam.h
Inheritance Relationships
Base Type
public wavemap::ConfigBase< ContinuousBeamConfig, 5, BeamSelectorType >(Template Struct ConfigBase)
Struct Documentation
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struct ContinuousBeamConfig : public wavemap::ConfigBase<ContinuousBeamConfig, 5, BeamSelectorType>
Config struct for the continuous beam measurement model.
Public Functions
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inline ContinuousBeamConfig(FloatingPoint angle_sigma, FloatingPoint range_sigma, FloatingPoint scaling_free, FloatingPoint scaling_occupied)
Public Members
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Radians<FloatingPoint> angle_sigma = 0.f
Uncertainty along the angle axis.
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Meters<FloatingPoint> range_sigma = 0.f
Uncertainty along the range axis.
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FloatingPoint scaling_free = 0.5f
Scale factor to apply to the continuous Bayesian occupancy model for cells that are observed as free.
This can, for example, be used to give a higher weight to occupied updates than free updates.
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FloatingPoint scaling_occupied = 0.5f
Scale factor to apply to the continuous Bayesian occupancy model for cells that are observed as occupied.
This can, for example, be used to give a higher weight to occupied updates than free updates.
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BeamSelectorType beam_selector_type = BeamSelectorType::kAllNeighbors
Which neighboring beams to consider when computing a cell’s measurement update.
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inline ContinuousBeamConfig(FloatingPoint angle_sigma, FloatingPoint range_sigma, FloatingPoint scaling_free, FloatingPoint scaling_occupied)