beluga_ros::AmclParams Struct Reference

Struct containing parameters for the Adaptive Monte Carlo Localization (AMCL) implementation. More...

#include <amcl.hpp>

Public Attributes
double	update_min_d = 0.25
	Translational movement required from last resample for resampling to happen again.
double	update_min_a = 0.2
	Rotational movement required from last resample for resampling to happen again.
std::size_t	resample_interval = 1UL
	Number of filter updates required before resampling.
bool	selective_resampling = false
	Whether to enable selective resampling [2] to help avoid loss of diversity in the particle population. The resampling step will only happen if the effective number of particles ( \(N_{eff} = 1/ {\sum w_i^2}\)) is lower than half the current number of particles, where \(w_i\) refers to the normalized weight of each particle.
std::size_t	min_particles = 500UL
	Minimum allowed number of particles.
std::size_t	max_particles = 2000UL
	Maximum allowed number of particles.
double	alpha_slow = 0.001
	Exponential decay rate for the slow average weight filter, used in deciding when to recover from a bad approximation by adding random poses [3] .
double	alpha_fast = 0.1
	Exponential decay rate for the fast average weight filter, used in deciding when to recover from a bad approximation by adding random poses [3] .
double	kld_epsilon = 0.05
	Maximum particle filter population error between the true distribution and the estimated distribution. It is used in KLD resampling [1] to limit the allowed number of particles to the minimum necessary.
double	kld_z = 3.0
	Upper standard normal quantile for \(P\), where \(P\) is the probability that the error in the estimated distribution will be less than kld_epsilon in KLD resampling [1] .
double	spatial_resolution_x = 0.5
	Spatial resolution along the x-axis to create buckets for KLD resampling.
double	spatial_resolution_y = 0.5
	Spatial resolution along the y-axis to create buckets for KLD resampling.
double	spatial_resolution_theta = 10 * Sophus::Constants<double>::pi() / 180
	Spatial resolution around the z-axis to create buckets for KLD resampling.

Detailed Description

Struct containing parameters for the Adaptive Monte Carlo Localization (AMCL) implementation.

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The documentation for this struct was generated from the following file:

• /home/runner/work/beluga/beluga/beluga_ros/include/beluga_ros/amcl.hpp