mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon Struct Reference

Detailed Description

Parameters common to any derived class.

Derived classes should derive a new struct from this one, plus "public utils::CLoadableOptions", and call the internal_* methods where appropiate to deal with the variables declared here. Derived classes instantions of their "TInsertionOptions" MUST set the pointer "m_insertOptions_common" upon construction.

Definition at line 185 of file CRandomFieldGridMap2D.h.

#include <mrpt/slam/CRandomFieldGridMap2D.h>

Public Member Functions
	TInsertionOptionsCommon ()
	Default values loader.
void	internal_loadFromConfigFile_common (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	internal_dumpToTextStream_common (CStream &out) const
	See utils::CLoadableOptions.

Public Attributes
Kernel methods (mrKernelDM, mrKernelDMV)
float	sigma
	The sigma of the "Parzen"-kernel Gaussian.
float	cutoffRadius
	The cutoff radius for updating cells.
float	R_min
float	R_max
	Limits for normalization of sensor readings.
double	dm_sigma_omega
	[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) */
Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate)
float	KF_covSigma
	The "sigma" for the initial covariance value between cells (in meters).
float	KF_initialCellStd
	The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).
float	KF_observationModelNoise
	The sensor model noise (in normalized concentration units).
float	KF_defaultCellMeanValue
	The default value for the mean of cells' concentration.
uint16_t	KF_W_size
	[mrKalmanApproximate] The size of the window of neighbor cells.

Constructor & Destructor Documentation

mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::TInsertionOptionsCommon

(

)

Default values loader.

Member Function Documentation

void mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common

(

CStream &

out

)

const

See utils::CLoadableOptions.

void mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

See utils::CLoadableOptions.

Member Data Documentation

float mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius

The cutoff radius for updating cells.

Definition at line 199 of file CRandomFieldGridMap2D.h.

double mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega

[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) */

Definition at line 201 of file CRandomFieldGridMap2D.h.

float mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma

The "sigma" for the initial covariance value between cells (in meters).

Definition at line 206 of file CRandomFieldGridMap2D.h.

float mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue

The default value for the mean of cells' concentration.

Definition at line 209 of file CRandomFieldGridMap2D.h.

float mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd

The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).

Definition at line 207 of file CRandomFieldGridMap2D.h.

float mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise

The sensor model noise (in normalized concentration units).

Definition at line 208 of file CRandomFieldGridMap2D.h.

uint16_t mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size

[mrKalmanApproximate] The size of the window of neighbor cells.

Definition at line 210 of file CRandomFieldGridMap2D.h.

float mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max

Limits for normalization of sensor readings.

Definition at line 200 of file CRandomFieldGridMap2D.h.

float mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min

Definition at line 200 of file CRandomFieldGridMap2D.h.

float mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma

The sigma of the "Parzen"-kernel Gaussian.

Definition at line 198 of file CRandomFieldGridMap2D.h.