mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions Struct Reference

This struct contains data for choosing the method by which new beacons are inserted in the map. More...

#include <mrpt/slam/CBeaconMap.h>

Inheritance diagram for mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions:

List of all members.

Public Member Functions
	TInsertionOptions ()
	Initilization of default parameters.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (utils::CStream &out)
	See utils::CLoadableOptions.
Public Attributes
bool	insertAsMonteCarlo
	Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::slam::CBeacon).
float	maxElevation_deg
	Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.
float	minElevation_deg
unsigned int	MC_numSamplesPerMeter
	Number of particles per meter of range, i.e.
float	MC_maxStdToGauss
	The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).
float	MC_thresholdNegligible
	Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).
bool	MC_performResampling
	If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.
float	MC_afterResamplingNoise
	The std.dev.
float	SOG_thresholdNegligible
	Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).
float	SOG_maxDistBetweenGaussians
	A parameter for initializing 2D/3D SOGs.
float	SOG_separationConstant
	Constant used to compute the std.

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Detailed Description

This struct contains data for choosing the method by which new beacons are inserted in the map.

Definition at line 131 of file CBeaconMap.h.

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Constructor & Destructor Documentation

mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::TInsertionOptions

(

)

Initilization of default parameters.

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Member Function Documentation

void mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::dumpToTextStream

(

utils::CStream &

out

)

[virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

void mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)			[virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

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Member Data Documentation

bool mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::insertAsMonteCarlo

Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::slam::CBeacon).

See also:

MC_performResampling

Definition at line 151 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::maxElevation_deg

Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.

Definition at line 155 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::MC_afterResamplingNoise

The std.dev.

of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true.

Definition at line 175 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::MC_maxStdToGauss

The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).

Definition at line 163 of file CBeaconMap.h.

unsigned int mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::MC_numSamplesPerMeter

Number of particles per meter of range, i.e.

per meter of the "radius of the ring".

Definition at line 159 of file CBeaconMap.h.

bool mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::MC_performResampling

If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.

Definition at line 171 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::MC_thresholdNegligible

Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).

Definition at line 167 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::minElevation_deg

Definition at line 155 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians

A parameter for initializing 2D/3D SOGs.

Definition at line 183 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::SOG_separationConstant

Constant used to compute the std.

dev. int the tangent direction when creating the Gaussians.

Definition at line 187 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::SOG_thresholdNegligible

Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).

Definition at line 179 of file CBeaconMap.h.