mrpt::slam::CPointsMap::TLikelihoodOptions Struct Reference

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Detailed Description

Options used when evaluating "computeObservationLikelihood" in the derived classes.

See also:

CObservation::computeObservationLikelihood

#include <mrpt/slam/CPointsMap.h>

Inheritance diagram for mrpt::slam::CPointsMap::TLikelihoodOptions:

List of all members.

Public Member Functions
	TLikelihoodOptions ()
	Initilization of default parameters.
virtual	~TLikelihoodOptions ()
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
void	writeToStream (CStream &out) const
	Binary dump to stream - for usage in derived classes' serialization.
void	readFromStream (CStream &in)
	Binary dump to stream - for usage in derived classes' serialization.
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	sigma_dist
	Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters)
double	max_corr_distance
	Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters)
uint32_t	decimation
	Speed up the likelihood computation by considering only one out of N rays (default=10)
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::CPointsMap::TLikelihoodOptions::TLikelihoodOptions

(

)

Initilization of default parameters.

virtual mrpt::slam::CPointsMap::TLikelihoodOptions::~TLikelihoodOptions

(

)

[inline, virtual]

Definition at line 213 of file CPointsMap.h.

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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::CPointsMap::TLikelihoodOptions::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::CPointsMap::TLikelihoodOptions::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

void mrpt::slam::CPointsMap::TLikelihoodOptions::readFromStream

(

CStream &

in

)

Binary dump to stream - for usage in derived classes' serialization.

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

void mrpt::slam::CPointsMap::TLikelihoodOptions::writeToStream

(

CStream &

out

)

const

Binary dump to stream - for usage in derived classes' serialization.

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Member Data Documentation

uint32_t mrpt::slam::CPointsMap::TLikelihoodOptions::decimation

Speed up the likelihood computation by considering only one out of N rays (default=10)

Definition at line 228 of file CPointsMap.h.

double mrpt::slam::CPointsMap::TLikelihoodOptions::max_corr_distance

Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters)

Definition at line 227 of file CPointsMap.h.

double mrpt::slam::CPointsMap::TLikelihoodOptions::sigma_dist

Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters)

Definition at line 226 of file CPointsMap.h.