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<div class="title">mrpt::slam::CRejectionSamplingRangeOnlyLocalization Class Reference<div class="ingroups"><a class="el" href="group__mrpt__slam__grp.html">[mrpt-slam]</a></div></div> </div>
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<!-- doxytag: class="mrpt::slam::CRejectionSamplingRangeOnlyLocalization" --><!-- doxytag: inherits="CRejectionSamplingCapable< poses::CPose2D >" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>An implementation of rejection sampling for generating 2D robot pose from range-only measurements within a landmarks (beacons) map. </p>
<p>Before calling the method "rejectionSampling" to generate the samples, you must call "setParams". It is assumed a planar scenario, where the robot is at a fixed height (default=0). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html" title="A base class for implementing rejection sampling in a generic state space.">bayes::CRejectionSamplingCapable</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html">mrpt/slam/CRejectionSamplingRangeOnlyLocalization.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CRejectionSamplingRangeOnlyLocalization:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization_inherit__map" id="mrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html" title="mrpt::bayes::CRejectionSamplingCapable\< poses::CPose2D \>" alt="" coords="5,96,395,123"/><area shape="rect" id="node4" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html" title="A base class for implementing rejection sampling in a generic state space." alt="" coords="67,5,333,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization_1_1_t_data_per_beacon.html">TDataPerBeacon</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Data for each beacon observation with a correspondence with the map. <a href="structmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization_1_1_t_data_per_beacon.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1bayes_1_1_c_probability_particle.html">CProbabilityParticle</a><br class="typebreak"/>
< TStateSpace > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#a6c35abe1d7247665e9e7431aedee9e4f">TParticle</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#ad2139d3851952710bcd6f2b233c11625">CRejectionSamplingRangeOnlyLocalization</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#ad2139d3851952710bcd6f2b233c11625"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#ae3faa7fa066aa35c773116fa925cf15d">~CRejectionSamplingRangeOnlyLocalization</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#ae3faa7fa066aa35c773116fa925cf15d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#ac463a7167165e6902c56ec6d218a34df">setParams</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> &beaconsMap, const <a class="el" href="classmrpt_1_1slam_1_1_c_observation_beacon_ranges.html">CObservationBeaconRanges</a> &observation, float sigmaRanges, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &oldPose, float robot_z=0, bool autoCheckAngleRanges=true)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The parameters used in the generation of random samples: <a href="#ac463a7167165e6902c56ec6d218a34df"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#af0597f8c63106e2a4b64365147cf931f">rejectionSampling</a> (size_t desiredSamples, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#a6c35abe1d7247665e9e7431aedee9e4f">TParticle</a> > &outSamples, size_t timeoutTrials=1000)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates a set of N independent samples via rejection sampling. <a href="#af0597f8c63106e2a4b64365147cf931f"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#acfb8cce53afe2fb2fbfae861586df06b">RS_drawFromProposal</a> (<a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &outSample)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates one sample, drawing from some proposal distribution. <a href="#acfb8cce53afe2fb2fbfae861586df06b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#a7d35712f4cc621f5c025c666a171d7f3">RS_observationLikelihood</a> (const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> &x)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the NORMALIZED observation likelihood (linear, not exponential!!!) at a given point of the state space (values in the range [0,1]). <a href="#a7d35712f4cc621f5c025c666a171d7f3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#addc288e07f0bfea667f0b30c235007d2">RS_drawFromProposal</a> (TStateSpace &outSample)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Generates one sample, drawing from some proposal distribution. <a href="#addc288e07f0bfea667f0b30c235007d2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#a6cf91003f69f1cb70d8f0b18f3a49b79">RS_observationLikelihood</a> (const TStateSpace &x)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the NORMALIZED observation likelihood (linear, not exponential!!!) at a given point of the state space (values in the range [0,1]). <a href="#a6cf91003f69f1cb70d8f0b18f3a49b79"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#a4a440d115a0c8fbf2d0ae9cf85748b7d">m_z_robot</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Z coordinate of the robot. <a href="#a4a440d115a0c8fbf2d0ae9cf85748b7d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#ad0e510ddb67cf33b95eeea287035dbf4">m_sigmaRanges</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#abc282871eefad1761526a6bf5ac868f9">m_oldPose</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#ac3c0e5f57f71f9759848f59371e0bb29">m_drawIndex</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The index in "m_dataPerBeacon" used to draw samples (the rest will be used to evaluate the likelihood) <a href="#ac3c0e5f57f71f9759848f59371e0bb29"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1deque.html">std::deque</a>< <a class="el" href="structmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization_1_1_t_data_per_beacon.html">TDataPerBeacon</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#a14315a60da41d6abb9cb9a6561f53df5">m_dataPerBeacon</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Data for each beacon observation with a correspondence with the map. <a href="#a14315a60da41d6abb9cb9a6561f53df5"></a><br/></td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a6c35abe1d7247665e9e7431aedee9e4f"></a><!-- doxytag: member="mrpt::slam::CRejectionSamplingRangeOnlyLocalization::TParticle" ref="a6c35abe1d7247665e9e7431aedee9e4f" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1bayes_1_1_c_probability_particle.html">CProbabilityParticle</a><TStateSpace> <a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#a6c35abe1d7247665e9e7431aedee9e4f">mrpt::bayes::CRejectionSamplingCapable::TParticle</a><code> [inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_rejection_sampling_capable_8h_source.html#l00050">50</a> of file <a class="el" href="_c_rejection_sampling_capable_8h_source.html">CRejectionSamplingCapable.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ad2139d3851952710bcd6f2b233c11625"></a><!-- doxytag: member="mrpt::slam::CRejectionSamplingRangeOnlyLocalization::CRejectionSamplingRangeOnlyLocalization" ref="ad2139d3851952710bcd6f2b233c11625" args="()" -->
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<td class="memname">mrpt::slam::CRejectionSamplingRangeOnlyLocalization::CRejectionSamplingRangeOnlyLocalization </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<p>Constructor. </p>
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<a class="anchor" id="ae3faa7fa066aa35c773116fa925cf15d"></a><!-- doxytag: member="mrpt::slam::CRejectionSamplingRangeOnlyLocalization::~CRejectionSamplingRangeOnlyLocalization" ref="ae3faa7fa066aa35c773116fa925cf15d" args="()" -->
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<td class="memname">virtual mrpt::slam::CRejectionSamplingRangeOnlyLocalization::~CRejectionSamplingRangeOnlyLocalization </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
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<p>Destructor. </p>
<p>Definition at line <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html#l00064">64</a> of file <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html">CRejectionSamplingRangeOnlyLocalization.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="af0597f8c63106e2a4b64365147cf931f"></a><!-- doxytag: member="mrpt::slam::CRejectionSamplingRangeOnlyLocalization::rejectionSampling" ref="af0597f8c63106e2a4b64365147cf931f" args="(size_t desiredSamples, std::vector< TParticle > &outSamples, size_t timeoutTrials=1000)" -->
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<td class="memname">void mrpt::bayes::CRejectionSamplingCapable::rejectionSampling </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>desiredSamples</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#a6c35abe1d7247665e9e7431aedee9e4f">TParticle</a> > & </td>
<td class="paramname"><em>outSamples</em>, </td>
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<td class="paramtype">size_t </td>
<td class="paramname"><em>timeoutTrials</em> = <code>1000</code> </td>
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<td>)</td>
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<p>Generates a set of N independent samples via rejection sampling. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">desiredSamples</td><td>The number of desired samples to generate </td></tr>
<tr><td class="paramname">outSamples</td><td>The output samples. </td></tr>
<tr><td class="paramname">timeoutTrials</td><td>The maximum number of rejection trials for each generated sample (i.e. the maximum number of iterations). This can be used to set a limit to the time complexity of the algorithm for difficult probability densities. All will have equal importance weights (a property of rejection sampling), although those samples generated at timeout will have a different importance weights. </td></tr>
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<p>Definition at line <a class="el" href="_c_rejection_sampling_capable_8h_source.html#l00065">65</a> of file <a class="el" href="_c_rejection_sampling_capable_8h_source.html">CRejectionSamplingCapable.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00370">MRPT_START</a>, <a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#addc288e07f0bfea667f0b30c235007d2">mrpt::bayes::CRejectionSamplingCapable::RS_drawFromProposal()</a>, <a class="el" href="classmrpt_1_1bayes_1_1_c_rejection_sampling_capable.html#a6cf91003f69f1cb70d8f0b18f3a49b79">mrpt::bayes::CRejectionSamplingCapable::RS_observationLikelihood()</a>, <a class="el" href="mrpt__macros_8h_source.html#l00282">ASSERT_</a>, <a class="el" href="namespacemrpt_1_1random.html#a4743bfa8fcb282b6f5d66395ccabaa73">mrpt::random::randomGenerator</a>, and <a class="el" href="mrpt__macros_8h_source.html#l00374">MRPT_END</a>.</p>
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<a class="anchor" id="acfb8cce53afe2fb2fbfae861586df06b"></a><!-- doxytag: member="mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal" ref="acfb8cce53afe2fb2fbfae861586df06b" args="(CPose2D &outSample)" -->
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<td class="memname">void mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>outSample</em></td><td>)</td>
<td><code> [protected]</code></td>
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<p>Generates one sample, drawing from some proposal distribution. </p>
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<a class="anchor" id="addc288e07f0bfea667f0b30c235007d2"></a><!-- doxytag: member="mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_drawFromProposal" ref="addc288e07f0bfea667f0b30c235007d2" args="(TStateSpace &outSample)=0" -->
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<td class="memname">virtual void mrpt::bayes::CRejectionSamplingCapable::RS_drawFromProposal </td>
<td>(</td>
<td class="paramtype">TStateSpace & </td>
<td class="paramname"><em>outSample</em></td><td>)</td>
<td><code> [protected, pure virtual, inherited]</code></td>
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<p>Generates one sample, drawing from some proposal distribution. </p>
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<a class="anchor" id="a7d35712f4cc621f5c025c666a171d7f3"></a><!-- doxytag: member="mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_observationLikelihood" ref="a7d35712f4cc621f5c025c666a171d7f3" args="(const CPose2D &x)" -->
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<td class="memname">double mrpt::slam::CRejectionSamplingRangeOnlyLocalization::RS_observationLikelihood </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> & </td>
<td class="paramname"><em>x</em></td><td>)</td>
<td><code> [protected]</code></td>
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<p>Returns the NORMALIZED observation likelihood (linear, not exponential!!!) at a given point of the state space (values in the range [0,1]). </p>
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<td class="memname">virtual double mrpt::bayes::CRejectionSamplingCapable::RS_observationLikelihood </td>
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<p>Returns the NORMALIZED observation likelihood (linear, not exponential!!!) at a given point of the state space (values in the range [0,1]). </p>
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<td class="memname">bool mrpt::slam::CRejectionSamplingRangeOnlyLocalization::setParams </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> & </td>
<td class="paramname"><em>beaconsMap</em>, </td>
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<td class="paramname"><em>observation</em>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>sigmaRanges</em>, </td>
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<td class="paramname"><em>oldPose</em>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>robot_z</em> = <code>0</code>, </td>
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<p>The parameters used in the generation of random samples: </p>
<dl><dt><b>Parameters:</b></dt><dd>
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<tr><td class="paramname">beaconsMap</td><td>The map containing the N beacons (indexed by their "beacon ID"s). Only the mean 3D position of the beacons is used, the covariance is ignored. </td></tr>
<tr><td class="paramname">observation</td><td>An observation with, at least ONE range measurement. </td></tr>
<tr><td class="paramname">sigmaRanges</td><td>The standard deviation of the "range measurement noise". </td></tr>
<tr><td class="paramname">robot_z</td><td>The height of the robot on the floor (default=0). Note that the beacon sensor on the robot may be at a different height, according to data within the observation object. </td></tr>
<tr><td class="paramname">autoCheckAngleRanges</td><td>Whether to make a simple check for potential good angles from the beacons to generate samples (disable to speed-up the preparation vs. making slower the drawn). This method fills out the member "m_dataPerBeacon". </td></tr>
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<dl class="return"><dt><b>Returns:</b></dt><dd>true if at least ONE beacon has been successfully loaded, false otherwise. In this case do not call "rejectionSampling" or an exception will be launch, since there is no information to generate samples. </dd></dl>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a14315a60da41d6abb9cb9a6561f53df5"></a><!-- doxytag: member="mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_dataPerBeacon" ref="a14315a60da41d6abb9cb9a6561f53df5" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1deque.html">std::deque</a><<a class="el" href="structmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization_1_1_t_data_per_beacon.html">TDataPerBeacon</a>> <a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#a14315a60da41d6abb9cb9a6561f53df5">mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_dataPerBeacon</a><code> [protected]</code></td>
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<p>Data for each beacon observation with a correspondence with the map. </p>
<p>Definition at line <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html#l00118">118</a> of file <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html">CRejectionSamplingRangeOnlyLocalization.h</a>.</p>
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<td class="memname">size_t <a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#ac3c0e5f57f71f9759848f59371e0bb29">mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_drawIndex</a><code> [protected]</code></td>
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<p>The index in "m_dataPerBeacon" used to draw samples (the rest will be used to evaluate the likelihood) </p>
<p>Definition at line <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html#l00101">101</a> of file <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html">CRejectionSamplingRangeOnlyLocalization.h</a>.</p>
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<a class="anchor" id="abc282871eefad1761526a6bf5ac868f9"></a><!-- doxytag: member="mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_oldPose" ref="abc282871eefad1761526a6bf5ac868f9" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1poses_1_1_c_pose2_d.html">CPose2D</a> <a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#abc282871eefad1761526a6bf5ac868f9">mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_oldPose</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html#l00097">97</a> of file <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html">CRejectionSamplingRangeOnlyLocalization.h</a>.</p>
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<a class="anchor" id="ad0e510ddb67cf33b95eeea287035dbf4"></a><!-- doxytag: member="mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_sigmaRanges" ref="ad0e510ddb67cf33b95eeea287035dbf4" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#ad0e510ddb67cf33b95eeea287035dbf4">mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_sigmaRanges</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html#l00096">96</a> of file <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html">CRejectionSamplingRangeOnlyLocalization.h</a>.</p>
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<a class="anchor" id="a4a440d115a0c8fbf2d0ae9cf85748b7d"></a><!-- doxytag: member="mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_z_robot" ref="a4a440d115a0c8fbf2d0ae9cf85748b7d" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_rejection_sampling_range_only_localization.html#a4a440d115a0c8fbf2d0ae9cf85748b7d">mrpt::slam::CRejectionSamplingRangeOnlyLocalization::m_z_robot</a><code> [protected]</code></td>
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<p>Z coordinate of the robot. </p>
<p>Definition at line <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html#l00094">94</a> of file <a class="el" href="_c_rejection_sampling_range_only_localization_8h_source.html">CRejectionSamplingRangeOnlyLocalization.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
