TKLDParams.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
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   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
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   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef TKLDParams_H
#define TKLDParams_H

#include <mrpt/utils/CLoadableOptions.h>

#include <mrpt/slam/link_pragmas.h>

namespace mrpt
{
        namespace slam
        {
                using namespace mrpt::utils;

                /** Option set for KLD algorithm.  \ingroup mrpt_slam_grp 
                  */
                class SLAM_IMPEXP TKLDParams : public utils::CLoadableOptions
                {
                public:
                        TKLDParams();

                        /** See utils::CLoadableOptions
                          */
                        void  loadFromConfigFile(
                                const mrpt::utils::CConfigFileBase  &source,
                                const std::string &section);

                        /** See utils::CLoadableOptions
                          */
                        void  dumpToTextStream(CStream  &out) const;


                        /** 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_XY, KLD_binSize_PHI,
                                        KLD_delta, KLD_epsilon;

                        /** 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_minSampleSize, KLD_maxSampleSize;

                        /** (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 */
                        double  KLD_minSamplesPerBin; 

                };

        } // End of namespace
} // End of namespace

#endif