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<title>The MRPT project: mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel Struct Reference</title>
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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1slam.html">slam</a>::<a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html">CActionRobotMovement2D</a>::<a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options.html">TMotionModelOptions</a>::<a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html">TOptions_ThrunModel</a>
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<h1>mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel Struct Reference</h1><!-- doxytag: class="mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel" -->
<p>Options for the Thrun's model, which generates a CPosePDFParticles object in poseChange.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_action_robot_movement2_d_8h_source.html">mrpt/slam/CActionRobotMovement2D.h</a>></code></p>
<p><a href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#ac3c66ef15fa4310cbb7e3c5b69571fbf">nParticlesCount</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The default number of particles to generate in a internal representation (anyway you can draw as many samples as you want through <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html#aaebfa84dc557574c20cbf69b6fd4282f" title="Using this method instead of "poseChange->drawSingleSample()" may be...">CActionRobotMovement2D::drawSingleSample</a>). <a href="#ac3c66ef15fa4310cbb7e3c5b69571fbf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#a45ada7d1dbf8df4dc7e8e8a6a6c96f5e">alfa1_rot_rot</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#a77cfd1c7a1d0a4efae7d178f285422e4">alfa2_rot_trans</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#afa0406b126652575e7b1003ed23b0061">alfa3_trans_trans</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#ad1f8cf031739dd3c1eb0eb47d74e895f">alfa4_trans_rot</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#a8bc7afc99b8f90042cbf01467fdb4abd">additional_std_XY</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An additional noise added to the thrun model (std. <a href="#a8bc7afc99b8f90042cbf01467fdb4abd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#a74eb0c94c3e10915063503f4dc9da39f">additional_std_phi</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Options for the Thrun's model, which generates a CPosePDFParticles object in poseChange. </p>
<p>Definition at line <a class="el" href="_c_action_robot_movement2_d_8h_source.html#l00137">137</a> of file <a class="el" href="_c_action_robot_movement2_d_8h_source.html">CActionRobotMovement2D.h</a>.</p>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a74eb0c94c3e10915063503f4dc9da39f"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_phi" ref="a74eb0c94c3e10915063503f4dc9da39f" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#a74eb0c94c3e10915063503f4dc9da39f">mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_phi</a></td>
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<p>Definition at line <a class="el" href="_c_action_robot_movement2_d_8h_source.html#l00150">150</a> of file <a class="el" href="_c_action_robot_movement2_d_8h_source.html">CActionRobotMovement2D.h</a>.</p>
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<a class="anchor" id="a8bc7afc99b8f90042cbf01467fdb4abd"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_XY" ref="a8bc7afc99b8f90042cbf01467fdb4abd" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#a8bc7afc99b8f90042cbf01467fdb4abd">mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::additional_std_XY</a></td>
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<p>An additional noise added to the thrun model (std. </p>
<p>dev. in meters and radians). </p>
<p>Definition at line <a class="el" href="_c_action_robot_movement2_d_8h_source.html#l00150">150</a> of file <a class="el" href="_c_action_robot_movement2_d_8h_source.html">CActionRobotMovement2D.h</a>.</p>
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<a class="anchor" id="a45ada7d1dbf8df4dc7e8e8a6a6c96f5e"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa1_rot_rot" ref="a45ada7d1dbf8df4dc7e8e8a6a6c96f5e" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#a45ada7d1dbf8df4dc7e8e8a6a6c96f5e">mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa1_rot_rot</a></td>
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<p>Definition at line <a class="el" href="_c_action_robot_movement2_d_8h_source.html#l00143">143</a> of file <a class="el" href="_c_action_robot_movement2_d_8h_source.html">CActionRobotMovement2D.h</a>.</p>
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<a class="anchor" id="a77cfd1c7a1d0a4efae7d178f285422e4"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa2_rot_trans" ref="a77cfd1c7a1d0a4efae7d178f285422e4" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#a77cfd1c7a1d0a4efae7d178f285422e4">mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa2_rot_trans</a></td>
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<p>Definition at line <a class="el" href="_c_action_robot_movement2_d_8h_source.html#l00144">144</a> of file <a class="el" href="_c_action_robot_movement2_d_8h_source.html">CActionRobotMovement2D.h</a>.</p>
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<a class="anchor" id="afa0406b126652575e7b1003ed23b0061"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa3_trans_trans" ref="afa0406b126652575e7b1003ed23b0061" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#afa0406b126652575e7b1003ed23b0061">mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa3_trans_trans</a></td>
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<p>Definition at line <a class="el" href="_c_action_robot_movement2_d_8h_source.html#l00145">145</a> of file <a class="el" href="_c_action_robot_movement2_d_8h_source.html">CActionRobotMovement2D.h</a>.</p>
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<a class="anchor" id="ad1f8cf031739dd3c1eb0eb47d74e895f"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa4_trans_rot" ref="ad1f8cf031739dd3c1eb0eb47d74e895f" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#ad1f8cf031739dd3c1eb0eb47d74e895f">mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::alfa4_trans_rot</a></td>
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<p>Definition at line <a class="el" href="_c_action_robot_movement2_d_8h_source.html#l00146">146</a> of file <a class="el" href="_c_action_robot_movement2_d_8h_source.html">CActionRobotMovement2D.h</a>.</p>
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<a class="anchor" id="ac3c66ef15fa4310cbb7e3c5b69571fbf"></a><!-- doxytag: member="mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::nParticlesCount" ref="ac3c66ef15fa4310cbb7e3c5b69571fbf" args="" -->
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<td class="memname">uint32_t <a class="el" href="structmrpt_1_1slam_1_1_c_action_robot_movement2_d_1_1_t_motion_model_options_1_1_t_options___thrun_model.html#ac3c66ef15fa4310cbb7e3c5b69571fbf">mrpt::slam::CActionRobotMovement2D::TMotionModelOptions::TOptions_ThrunModel::nParticlesCount</a></td>
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<p>The default number of particles to generate in a internal representation (anyway you can draw as many samples as you want through <a class="el" href="classmrpt_1_1slam_1_1_c_action_robot_movement2_d.html#aaebfa84dc557574c20cbf69b6fd4282f" title="Using this method instead of "poseChange->drawSingleSample()" may be...">CActionRobotMovement2D::drawSingleSample</a>). </p>
<p>Definition at line <a class="el" href="_c_action_robot_movement2_d_8h_source.html#l00141">141</a> of file <a class="el" href="_c_action_robot_movement2_d_8h_source.html">CActionRobotMovement2D.h</a>.</p>
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