mrpt::slam::CMultiMetricMapPDF::TPredictionParams Struct Reference

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Detailed Description

The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter.

See also:

prediction_and_update

#include <mrpt/slam/CMultiMetricMapPDF.h>

Inheritance diagram for mrpt::slam::CMultiMetricMapPDF::TPredictionParams:

List of all members.

Public Member Functions
	TPredictionParams ()
	Default settings method.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string &section)
	This method saves the options to a ".ini"-like file or memory-stored string list.
void	saveToConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
void	dumpToConsole () const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Public Attributes
int	pfOptimalProposal_mapSelection
	[pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal") Select the map on which to calculate the optimal proposal distribution.
float	ICPGlobalAlign_MinQuality
	[prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum quality ratio [0,1] of the alignment such as it will be accepted.
COccupancyGridMap2D::TLikelihoodOptions	update_gridMapLikelihoodOptions
	[update stage] If the likelihood is computed through the occupancy grid map, then this structure is passed to the map when updating the particles weights in the update stage.
TKLDParams	KLD_params
CICP::TConfigParams	icp_params
	ICP parameters, used only when "PF_algorithm=2" in the particle filter.
Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
static void	dumpVar_float (CStream &out, const char *varName, float v)
static void	dumpVar_double (CStream &out, const char *varName, double v)
static void	dumpVar_bool (CStream &out, const char *varName, bool v)
static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

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Constructor & Destructor Documentation

mrpt::slam::CMultiMetricMapPDF::TPredictionParams::TPredictionParams

(

)

Default settings method.

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Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole

(

)

const [inherited]

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

void mrpt::slam::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream

(

CStream &

out

)

const [virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

static void mrpt::utils::CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)		[static, protected, inherited]

static void mrpt::utils::CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)		[static, protected, inherited]

static void mrpt::utils::CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)		[static, protected, inherited]

static void mrpt::utils::CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)		[static, protected, inherited]

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void mrpt::utils::CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)		[static, protected, inherited]

void mrpt::slam::CMultiMetricMapPDF::TPredictionParams::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		[virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

void mrpt::utils::CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		[inherited]

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also:

loadFromConfigFile

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		[inline, virtual, inherited]

This method saves the options to a ".ini"-like file or memory-stored string list.

See also:

loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, and mrpt::vision::TMultiResDescMatchOptions.

Definition at line 87 of file CLoadableOptions.h.

References THROW_EXCEPTION.

void mrpt::utils::CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		[inherited]

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also:

saveToConfigFile, loadFromConfigFileName

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Member Data Documentation

CICP::TConfigParams mrpt::slam::CMultiMetricMapPDF::TPredictionParams::icp_params

ICP parameters, used only when "PF_algorithm=2" in the particle filter.

Definition at line 180 of file CMultiMetricMapPDF.h.

float mrpt::slam::CMultiMetricMapPDF::TPredictionParams::ICPGlobalAlign_MinQuality

[prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum quality ratio [0,1] of the alignment such as it will be accepted.

Otherwise, raw odometry is used for those bad cases (default=0.7).

Definition at line 172 of file CMultiMetricMapPDF.h.

TKLDParams mrpt::slam::CMultiMetricMapPDF::TPredictionParams::KLD_params

Definition at line 178 of file CMultiMetricMapPDF.h.

int mrpt::slam::CMultiMetricMapPDF::TPredictionParams::pfOptimalProposal_mapSelection

[pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal") Select the map on which to calculate the optimal proposal distribution.

Values: 0: Gridmap -> Uses Scan matching-based approximation (based on Stachniss' work) 1: Landmarks -> Uses matching to approximate optimal 2: Beacons -> Used for exact optimal proposal in RO-SLAM 3: Pointsmap -> Uses Scan matching-based approximation with a map of points (based on Stachniss' work) Default = 0

Definition at line 167 of file CMultiMetricMapPDF.h.

COccupancyGridMap2D::TLikelihoodOptions mrpt::slam::CMultiMetricMapPDF::TPredictionParams::update_gridMapLikelihoodOptions

[update stage] If the likelihood is computed through the occupancy grid map, then this structure is passed to the map when updating the particles weights in the update stage.

Definition at line 176 of file CMultiMetricMapPDF.h.