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makes beam_model likelihood configurable #30

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merged 1 commit into from Feb 8, 2017
Merged

makes beam_model likelihood configurable #30

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7 changes: 6 additions & 1 deletion src/mcl_3dl.cpp
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Expand Up @@ -99,6 +99,7 @@ class mcl_3dl_node
double unmatch_output_dist;
double bias_var_dist;
double bias_var_ang;
float beam_likelihood;
std::shared_ptr<ros::Duration> match_output_interval;
} params;
int cnt_measure;
Expand Down Expand Up @@ -608,7 +609,7 @@ class mcl_3dl_node
if(kdtree->radiusSearch(center,
params.map_grid_min, id, sqdist, 1))
{
score_beam *= 0.8;
score_beam *= params.beam_likelihood;
break;
}
}
Expand Down Expand Up @@ -926,6 +927,10 @@ class mcl_3dl_node
nh.param("num_points", params.num_points, 32);
nh.param("num_points_beam", params.num_points_beam, 8);

double beam_likelihood_a;
nh.param("beam_likelihood", beam_likelihood_a, 0.5);
params.beam_likelihood = powf(beam_likelihood_a, 1.0 / (float)params.num_points_beam);

nh.param("resample_var_x", params.resample_var_x, 0.05);
nh.param("resample_var_y", params.resample_var_y, 0.05);
nh.param("resample_var_z", params.resample_var_z, 0.05);
Expand Down