mrpt::slam::TKLDParams Class Reference

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Detailed Description

Option set for KLD algorithm.

#include <mrpt/slam/TKLDParams.h>

Inheritance diagram for mrpt::slam::TKLDParams:

List of all members.

Public Member Functions
	TKLDParams ()
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
double	KLD_binSize_XY
	Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
double	KLD_binSize_PHI
double	KLD_delta
double	KLD_epsilon
unsigned int	KLD_minSampleSize
	Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
unsigned int	KLD_maxSampleSize
double	KLD_minSamplesPerBin
	(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * #ofBinsOccupied in the last time step
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::TKLDParams::TKLDParams

(

)

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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::TKLDParams::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::TKLDParams::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

double mrpt::slam::TKLDParams::KLD_binSize_PHI

Definition at line 61 of file TKLDParams.h.

double mrpt::slam::TKLDParams::KLD_binSize_XY

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.

Definition at line 61 of file TKLDParams.h.

double mrpt::slam::TKLDParams::KLD_delta

Definition at line 61 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation::PF_SLAM_implementation_pfStandardProposal(), and mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().

double mrpt::slam::TKLDParams::KLD_epsilon

Definition at line 61 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation::PF_SLAM_implementation_pfStandardProposal(), and mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().

unsigned int mrpt::slam::TKLDParams::KLD_maxSampleSize

Definition at line 66 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation::PF_SLAM_implementation_pfStandardProposal(), and mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().

unsigned int mrpt::slam::TKLDParams::KLD_minSampleSize

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.

Definition at line 66 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation::PF_SLAM_implementation_pfStandardProposal(), and mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().

double mrpt::slam::TKLDParams::KLD_minSamplesPerBin

(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * #ofBinsOccupied in the last time step

Definition at line 69 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().