Struct ProjectiveIntegratorConfig
Defined in File projective_integrator.h
Inheritance Relationships
Base Type
public wavemap::ConfigBase< ProjectiveIntegratorConfig, 4 >(Template Struct ConfigBase)
Struct Documentation
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struct ProjectiveIntegratorConfig : public wavemap::ConfigBase<ProjectiveIntegratorConfig, 4>
Config struct for projective integrators.
Public Functions
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inline ProjectiveIntegratorConfig(FloatingPoint min_range, FloatingPoint max_range)
Public Members
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Meters<FloatingPoint> min_range = 0.5f
Minimum range measurements should have to be considered.
Measurements below this threshold are ignored.
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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.
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Meters<FloatingPoint> max_update_resolution = 0.f
Maximum resolution at which to update the map.
Can be used to fuse multiple inputs with different maximum resolutions into a single map. Set to zero to match the map’s maximum resolution.
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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.
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inline ProjectiveIntegratorConfig(FloatingPoint min_range, FloatingPoint max_range)