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Various assumptions (kludges) you can enable or disable with enableKludge and disableKludge to make the behavior of the maps appear better
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const unsigned int | IgnoreZLessThanZero = 1 |
Don't incorporate measurements of items situated under the ground plane. | |
const unsigned int | IgnoreGreenItems = 2 |
Don't incorporate measurements of green items in the map. | |
const unsigned int | LazyFastSLAM = 4 |
Delay passing of movement information to FastSLAM. |
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Don't incorporate measurements of green items in the map. Our environment has green matting that uniquely indicates that we're looking at the ground. Since we can already guess that the ground is flat, we don't need to waste time on measurements of it. Definition at line 50 of file WorldModel2.h. |
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Don't incorporate measurements of items situated under the ground plane. If your environment has no pits in it, there will be nothing that has a z value smaller than 0. Measurements which have such z values are surely noise and can be ignored. Definition at line 44 of file WorldModel2.h. |
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Delay passing of movement information to FastSLAM. With lots of particles, FastSLAM takes forever to do motion resamples--too long for the robot to remain responsive if it's just doing a course correction while en route. With this kludge enabled, motion resampling will wait until the AIBO is completely stopped; then all the motions will be applied en masse. This will still have an impact on state machine timing, but at least it keeps AIBO from running into a wall. Be warned: you will not know where you are with LazyFastSLAM enabled until you stop moving and FastSLAM has had an opportunity to catch up with itself! Definition at line 61 of file WorldModel2.h. |
Tekkotsu v1.4 |
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