Run the entry point of the program.

Convert a 3D point cloud into a NDT map representation. Does so by clustering points in 3D cells of cell_size**3 meters^3 and fitting a

Adds an element at the end of the container. * \param value The element to be appended. */

Get laser scan range measurements as a range.

Resizes the container. * The container is resized to have exactly `count` elements. * If the specified size is less than the current size, the firs

Search for a valid copyright notice using the given the template. :param template: Template copyright notice to match with. :return:

Return whether we should intersperse a value or increment the input iterator.

Get the point cloud size.

Get its scipy representation.

Construct a AMCL instance. * \param motion_model Motion model instance. * \param sensor_model Sensor model Instance. * \param random_state_gener

Constructs a BeamSensorModel instance. * \param params Parameters to configure this instance. * See beluga::BeamModelParams for details. * \par

Constructs standard Bresenham 2D line drawing algorithm.

Default constructor. * Array will be functionally empty but storage will be default initialized. */

Constructs a DifferentialDriveModel instance. * \param params Parameters to configure this instance. * See beluga::DifferentialDriveModelParam for

Constructs an exponential filter. * \param alpha The exponential filter smoothing factor. */

Default constructor. Iterator will point nowhere.

@brief Constructor. @param boundaries Limits of the map. @param landmarks List of landmarks that can be expected to be detected.

Constructs a LandmarkSensorModel instance. * \param params Parameters to configure this instance. See beluga::BeamModelParams for details. * \param

Constructor. \param scan Laser scan message. \param origin Laser scan frame origin in the filter frame. Note it is a transform in 3D because the fram

Constructs a LikelihoodFieldModel instance. * @copydoc LikelihoodFieldModelBase::LikelihoodFieldModelBase */

Constructs a LikelihoodFieldCommonModel instance. * \param params Parameters to configure this instance. * See beluga::LikelihoodFieldModelBase fo

Constructs a LikelihoodFieldProbModel instance. * @copydoc LikelihoodFieldModelBase::LikelihoodFieldModelBase */

Constructs point line.

Construct with zero mean and circularly symmetric unitary covariance.

Constructs a parameter set instance.

Constructs a multivariate uniform distribution in SE(2) with 2D bounding region. * \param box The axis-aligned bounding region. */

Constructs a multivariate uniform distribution in SE(3) with 3D bounding region. * \param box The axis-aligned bounding region. */

Constructs a multivariate uniform distribution based on the provided occupancy grid. * \tparam OccupancyGrid A type of the occupancy grid. * \param

Constructs a NDTSensorModel instance. * \param params Parameters to configure this instance. * See beluga::NDTModelParam for details. * \param

Default constructor.

Constructor. \param grid Occupancy grid message.

Constructs an OmnidirectionalDriveModel instance. * \param params Parameters to configure this instance. * See beluga::OmnidirectionalDriveModelPa

Constructor that initializes the ParticleClusterizer with given parameters.

Constructor. \param cloud Point cloud message. \param origin Point cloud frame origin in the filter frame. \throws std::invalid_argument if `cloud` d

Constructs 2D ray with default ray tracing algorithm. * See Ray2d(const OccupancyGrid &, Algorithm, const Sophus::SE2d&, double) * for further refe