feat(ndt_scan_matcher): add nearest voxel transfromation probability …

…param (#198)

* feat(ndt_scan_matcher): add nearest voxel transfromation probability param

Signed-off-by: YamatoAndo <yamato.ando@gmail.com>

* rename likelihood

Signed-off-by: YamatoAndo <yamato.ando@gmail.com>

localization_launch/config/ndt_scan_matcher.param.yaml

@@ -23,9 +23,19 @@
     # The number of iterations required to calculate alignment
     max_iterations: 30
 
+    # Converged param type
+    # 0=TRANSFORM_PROBABILITY, 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD
+    # NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD is only available when NDTImplementType::OMP is selected
+    converged_param_type: 1
+
+    # If converged_param_type is 0
     # Threshold for deciding whether to trust the estimation result
     converged_param_transform_probability: 3.0
 
+    # If converged_param_type is 1
+    # Threshold for deciding whether to trust the estimation result
+    converged_param_nearest_voxel_transformation_likelihood: 2.3
+
     # The number of particles to estimate initial pose
     initial_estimate_particles_num: 100