mrpt::slam::CRangeBearingKFSLAM2D::TOptions Struct Reference

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Detailed Description

The options for the algorithm.

#include <mrpt/slam/CRangeBearingKFSLAM2D.h>

Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM2D::TOptions:

List of all members.

Public Member Functions
	TOptions ()
	Default values.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	Load from a config file/text.
void	dumpToTextStream (CStream &out) const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
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
vector_float	stds_Q_no_odo
	A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)
float	std_sensor_range
float	std_sensor_yaw
	The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.
float	quantiles_3D_representation
	Default = 3.
bool	create_simplemap
	Whether to fill m_SFs (default=false)
TDataAssociationMethod	data_assoc_method
TDataAssociationMetric	data_assoc_metric
double	data_assoc_IC_chi2_thres
	Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)
TDataAssociationMetric	data_assoc_IC_metric
	Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.
double	data_assoc_IC_ml_threshold
	Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)
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::CRangeBearingKFSLAM2D::TOptions::TOptions

(

)

Default values.

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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::CRangeBearingKFSLAM2D::TOptions::dumpToTextStream

(

CStream &

out

)

const [virtual]

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

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::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		[virtual]

Load from a config file/text.

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

bool mrpt::slam::CRangeBearingKFSLAM2D::TOptions::create_simplemap

Whether to fill m_SFs (default=false)

Definition at line 140 of file CRangeBearingKFSLAM2D.h.

double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_chi2_thres

Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)

Definition at line 145 of file CRangeBearingKFSLAM2D.h.

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_metric

Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.

Definition at line 146 of file CRangeBearingKFSLAM2D.h.

double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_ml_threshold

Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)

Definition at line 147 of file CRangeBearingKFSLAM2D.h.

TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_method

Definition at line 143 of file CRangeBearingKFSLAM2D.h.

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_metric

Definition at line 144 of file CRangeBearingKFSLAM2D.h.

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::quantiles_3D_representation

Default = 3.

Definition at line 139 of file CRangeBearingKFSLAM2D.h.

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_range

Definition at line 138 of file CRangeBearingKFSLAM2D.h.

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_yaw

The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.

Definition at line 138 of file CRangeBearingKFSLAM2D.h.

vector_float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::stds_Q_no_odo

A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)

Definition at line 137 of file CRangeBearingKFSLAM2D.h.