Struct ContinuousRayConfig
Defined in File continuous_ray.h
Inheritance Relationships
Base Type
public wavemap::ConfigBase< ContinuousRayConfig, 4, BeamSelectorType >(Template Struct ConfigBase)
Struct Documentation
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struct ContinuousRayConfig : public wavemap::ConfigBase<ContinuousRayConfig, 4, BeamSelectorType>
Config struct for the continuous ray measurement model.
Public Functions
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inline ContinuousRayConfig(FloatingPoint range_sigma, FloatingPoint scaling_free, FloatingPoint scaling_occupied)
Public Members
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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::kNearestNeighbor
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inline ContinuousRayConfig(FloatingPoint range_sigma, FloatingPoint scaling_free, FloatingPoint scaling_occupied)