{"action":"created","comment":{"url":"https://api.github.com/repos/MRPT/mrpt/pulls/comments/74741549","id":74741549,"diff_hunk":"@@ -93,3 +95,111 @@ void  CActionRobotMovement3D::readFromStream(mrpt::utils::CStream &in, int versi\n \n }\n \n+\n+void\tCActionRobotMovement3D::computeFromOdometry(\n+\tconst CPose3D\t\t\t\t&odometryIncrement,\n+\tconst TMotionModelOptions\t&options)\n+{\n+\t// Set the members data:\n+\testimationMethod\t\t\t= emOdometry;\n+\trawOdometryIncrementReading\t= odometryIncrement;\n+\tmotionModelConfiguration\t= options;\n+\n+\tif ( options.modelSelection == mm6DOF )\n+\t\t\t\tcomputeFromOdometry_model6DOF( odometryIncrement, options );\n+}\n+\n+\n+/*---------------------------------------------------------------\n+\t\t\t\t\t\tTMotionModelOptions\n+ ---------------------------------------------------------------*/\n+CActionRobotMovement3D::TMotionModelOptions::TMotionModelOptions() :\n+modelSelection(mm6DOF),\n+\tmm6DOFModel()\n+{\n+\n+\tmm6DOFModel.nParticlesCount\t\t= 300;\n+\tmm6DOFModel.a1\t\t= 0.05f;\n+\tmm6DOFModel.a2\t\t= 0.05f;\n+\tmm6DOFModel.a3\t\t= 0.05f;\n+\tmm6DOFModel.a4\t\t= 0.05f;\n+\tmm6DOFModel.a5\t\t= 0.05f;\n+\tmm6DOFModel.a6\t\t= 0.05f;\n+\tmm6DOFModel.a7\t\t= 0.05f;\n+\tmm6DOFModel.a8\t\t= 0.05f;\n+\tmm6DOFModel.a9\t\t= 0.05f;\n+\tmm6DOFModel.a10\t\t= 0.05f;\n+\tmm6DOFModel.additional_std_XYZ\t= 0.001f;\n+\tmm6DOFModel.additional_std_angle\t= DEG2RAD(0.05f);\n+\n+}\n+\n+/*---------------------------------------------------------------\n+\t\t\t\tcomputeFromOdometry_model6DOF\n+\t---------------------------------------------------------------*/\n+void\tCActionRobotMovement3D::computeFromOdometry_model6DOF(\n+\tconst CPose3D\t\t\t\t&odometryIncrement,\n+\tconst TMotionModelOptions\t&o\n+\t)\n+{\n+\n+\n+\t// The Gaussian PDF:\n+\t// ---------------------------\n+\tCPose3DPDFParticles\t\t*aux;\n+\tstatic CPose3D\t\t\tnullPose(0,0,0,0,0,0);\n+\n+\tposeChangeTemp = CPose3DPDFParticles::Create();\n+\taux = static_cast<CPose3DPDFParticles*>( poseChangeTemp.pointer() );\n+\n+\t// Set the number of particles:\n+\taux->resetDeterministic(nullPose, o.mm6DOFModel.nParticlesCount );\n+\n+\n+\n+\t//The motion model: A.L. Ballardini [and colleagues]. An effective 6DoF motion model for 3D-6DoF Monte Carlo Localization","path":"libs/obs/src/CActionRobotMovement3D.cpp","position":142,"original_position":142,"commit_id":"68daf6d769e52ed7c45ec58cb2a6727f4258175c","original_commit_id":"68daf6d769e52ed7c45ec58cb2a6727f4258175c","user":{"login":"jlblancoc","id":5497818,"avatar_url":"https://avatars.githubusercontent.com/u/5497818?v=3","gravatar_id":"","url":"https://api.github.com/users/jlblancoc","html_url":"https://github.com/jlblancoc","followers_url":"https://api.github.com/users/jlblancoc/followers","following_url":"https://api.github.com/users/jlblancoc/following{/other_user}","gists_url":"https://api.github.com/users/jlblancoc/gists{/gist_id}","starred_url":"https://api.github.com/users/jlblancoc/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jlblancoc/subscriptions","organizations_url":"https://api.github.com/users/jlblancoc/orgs","repos_url":"https://api.github.com/users/jlblancoc/repos","events_url":"https://api.github.com/users/jlblancoc/events{/privacy}","received_events_url":"https://api.github.com/users/jlblancoc/received_events","type":"User","site_admin":false},"body":"Yes! And add a very brief text explanation of when and what is that model used for (in what method call,...), complete the citation with the full paper reference, i.e:\r\n\r\nA. L. Ballardini, A. Furlan, A. Galbiati, M. Matteucci, F. Sacchi, D. G. Sorrenti An effective 6DoF motion model for 3D-6DoF Monte Carlo Localization 4th Workshop on Planning, Perception and Navigation for Intelligent Vehicles, IROS, 2012\r\n\r\nThanks!","created_at":"2016-08-15T09:59:08Z","updated_at":"2016-08-15T09:59:08Z","html_url":"https://github.com/MRPT/mrpt/pull/307#discussion_r74741549","pull_request_url":"https://api.github.com/repos/MRPT/mrpt/pulls/307","_links":{"self":{"href":"https://api.github.com/repos/MRPT/mrpt/pulls/comments/74741549"},"html":{"href":"https://github.com/MRPT/mrpt/pull/307#discussion_r74741549"},"pull_request":{"href":"https://api.github.com/repos/MRPT/mrpt/pulls/307"}}},"pull_request":{"url":"https://api.github.com/repos/MRPT/mrpt/pulls/307","id":81249253,"html_url":"https://github.com/MRPT/mrpt/pull/307","diff_url":"https://github.com/MRPT/mrpt/pull/307.diff","patch_url":"https://github.com/MRPT/mrpt/pull/307.patch","issue_url":"https://api.github.com/repos/MRPT/mrpt/issues/307","number":307,"state":"open","locked":false,"title":"Add a 3D Motion model.","user":{"login":"Logrus","id":416155,"avatar_url":"https://avatars.githubusercontent.com/u/416155?v=3","gravatar_id":"","url":"https://api.github.com/users/Logrus","html_url":"https://github.com/Logrus","followers_url":"https://api.github.com/users/Logrus/followers","following_url":"https://api.github.com/users/Logrus/following{/other_user}","gists_url":"https://api.github.com/users/Logrus/gists{/gist_id}","starred_url":"https://api.github.com/users/Logrus/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Logrus/subscriptions","organizations_url":"https://api.github.com/users/Logrus/orgs","repos_url":"https://api.github.com/users/Logrus/repos","events_url":"https://api.github.com/users/Logrus/events{/privacy}","received_events_url":"https://api.github.com/users/Logrus/received_events","type":"User","site_admin":false},"body":"**Changed apps/libraries:** \r\n*  Addition of a 3D motion model to mrpt::obs::CActionRobotMovement3D\r\n* This pull request is a part of the GSoC project \"ROS packages for versatile RBPF-based SLAM\", for more information see https://github.com/MRPT/GSoC2016-discussions/issues/3.\r\n\r\nI acknowledge to have: \r\n* Read the [`CONTRIBUTING`](https://github.com/MRPT/mrpt/blob/master/.github/CONTRIBUTING.md) page\r\n\r\n(Notify: @MRPT/owners )\r\n\r\n","created_at":"2016-08-14T17:28:07Z","updated_at":"2016-08-15T09:59:08Z","closed_at":null,"merged_at":null,"merge_commit_sha":"5f7d6243cc7e9c1e193e61e71efe29968fe2272d","assignee":null,"assignees":[],"milestone":null,"commits_url":"https://api.github.com/repos/MRPT/mrpt/pulls/307/commits","review_comments_url":"https://api.github.com/repos/MRPT/mrpt/pulls/307/comments","review_comment_url":"https://api.github.com/repos/MRPT/mrpt/pulls/comments{/number}","comments_url":"https://api.github.com/repos/MRPT/mrpt/issues/307/comments","statuses_url":"https://api.github.com/repos/MRPT/mrpt/statuses/68daf6d769e52ed7c45ec58cb2a6727f4258175c","head":{"label":"Logrus:master","ref":"master","sha":"68daf6d769e52ed7c45ec58cb2a6727f4258175c","user":{"login":"Logrus","id":416155,"avatar_url":"https://avatars.githubusercontent.com/u/416155?v=3","gravatar_id":"","url":"https://api.github.com/users/Logrus","html_url":"https://github.com/Logrus","followers_url":"https://api.github.com/users/Logrus/followers","following_url":"https://api.github.com/users/Logrus/following{/other_user}","gists_url":"https://api.github.com/users/Logrus/gists{/gist_id}","starred_url":"https://api.github.com/users/Logrus/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Logrus/subscriptions","organizations_url":"https://api.github.com/users/Logrus/orgs","repos_url":"https://api.github.com/users/Logrus/repos","events_url":"https://api.github.com/users/Logrus/events{/privacy}","received_events_url":"https://api.github.com/users/Logrus/received_events","type":"User","site_admin":false},"repo":{"id":53646269,"name":"mrpt","full_name":"Logrus/mrpt","owner":{"login":"Logrus","id":416155,"avatar_url":"https://avatars.githubusercontent.com/u/416155?v=3","gravatar_id":"","url":"https://api.github.com/users/Logrus","html_url":"https://github.com/Logrus","followers_url":"https://api.github.com/users/Logrus/followers","following_url":"https://api.github.com/users/Logrus/following{/other_user}","gists_url":"https://api.github.com/users/Logrus/gists{/gist_id}","starred_url":"https://api.github.com/users/Logrus/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Logrus/subscriptions","organizations_url":"https://api.github.com/users/Logrus/orgs","repos_url":"https://api.github.com/users/Logrus/repos","events_url":"https://api.github.com/users/Logrus/events{/privacy}","received_events_url":"https://api.github.com/users/Logrus/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/Logrus/mrpt","description":"The 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