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

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Detailed Description

The options for the algorithm.

Definition at line 119 of file CRangeBearingKFSLAM2D.h.

#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.
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)

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Constructor & Destructor Documentation

mrpt::slam::CRangeBearingKFSLAM2D::TOptions::TOptions

(

)

Default values.

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Member Function Documentation

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.

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.

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Member Data Documentation

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

Whether to fill m_SFs (default=false)

Definition at line 139 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 144 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 145 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 146 of file CRangeBearingKFSLAM2D.h.

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

Definition at line 142 of file CRangeBearingKFSLAM2D.h.

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

Definition at line 143 of file CRangeBearingKFSLAM2D.h.

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

Default = 3.

Definition at line 138 of file CRangeBearingKFSLAM2D.h.

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

Definition at line 137 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 137 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 136 of file CRangeBearingKFSLAM2D.h.