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MonteCarloLocalizationConfig

rust_robotics_localization::monte_carlo_localization

Struct MonteCarloLocalizationConfig

pub struct MonteCarloLocalizationConfig {
    pub min_particles: usize,
    pub max_particles: usize,
    pub kld_epsilon: f64,
    pub kld_z: f64,
    pub range_noise: f64,
    pub velocity_noise: f64,
    pub yaw_rate_noise: f64,
    pub dt: f64,
}

Expand description

Configuration for adaptive MCL.

Fields§

§min_particles: usize

Minimum number of particles.

§max_particles: usize

Maximum number of particles.

§kld_epsilon: f64

KLD error bound (epsilon).

§kld_z: f64

Standard normal quantile (z) used in KLD bound.

§range_noise: f64

Range measurement noise (sigma).

§velocity_noise: f64

Velocity process noise (sigma).

§yaw_rate_noise: f64

Yaw-rate process noise (sigma).

§dt: f64

Time step.

Implementations§

impl MonteCarloLocalizationConfig

pub fn validate(&self) -> RoboticsResult<()>

Validate configuration.

Trait Implementations§

impl Clone for MonteCarloLocalizationConfig

fn clone(&self) -> MonteCarloLocalizationConfig

Returns a duplicate of the value. Read more

1.0.0 · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more

impl Debug for MonteCarloLocalizationConfig

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

impl Default for MonteCarloLocalizationConfig

fn default() -> Self

Returns the “default value” for a type. Read more

Auto Trait Implementations§

impl Freeze for MonteCarloLocalizationConfig

impl RefUnwindSafe for MonteCarloLocalizationConfig

impl Send for MonteCarloLocalizationConfig

impl Sync for MonteCarloLocalizationConfig

impl Unpin for MonteCarloLocalizationConfig

impl UnsafeUnpin for MonteCarloLocalizationConfig

impl UnwindSafe for MonteCarloLocalizationConfig

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T
where T: Clone,

type Owned = T

The resulting type after obtaining ownership.

fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.

impl<V, T> VZip<V> for T
where V: MultiLane<T>,

fn vzip(self) -> V