Detailed Description

The options for the algorithm.

Definition at line 98 of file CRangeBearingKFSLAM2D.h.

#include <mrpt/slam/CRangeBearingKFSLAM2D.h>

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

Public Member Functions
	TOptions ()
	Default values. More...

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	Load from a config file/text. More...

void	dumpToTextStream (mrpt::utils::CStream &out) const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream. More...

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. More...

virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
	This method saves the options to a ".ini"-like file or memory-stored string list. More...

void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...

void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

Public Attributes
mrpt::math::CVectorFloat	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!) More...

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. More...

float	quantiles_3D_representation
	Default = 3. More...

bool	create_simplemap
	Whether to fill m_SFs (default=false) More...

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) More...

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

double	data_assoc_IC_ml_threshold
	Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) More...

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. More...

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)

Constructor & Destructor Documentation

§ TOptions()

mrpt::slam::CRangeBearingKFSLAM2D::TOptions::TOptions ( )

Default values.

Member Function Documentation

§ dumpToConsole()

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

§ dumpToTextStream()

void mrpt::slam::CRangeBearingKFSLAM2D::TOptions::dumpToTextStream ( mrpt::utils::CStream & out ) const

virtual

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

Reimplemented from mrpt::utils::CLoadableOptions.

§ dumpVar_bool()

static void mrpt::utils::CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

§ dumpVar_double()

static void mrpt::utils::CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

§ dumpVar_float()

static void mrpt::utils::CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

§ dumpVar_int()

static void mrpt::utils::CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

§ dumpVar_string()

static void mrpt::utils::CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

§ loadFromConfigFile()

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.

§ loadFromConfigFileName()

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

§ saveToConfigFile()

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	target,
		const std::string &	section
	)		const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.

§ saveToConfigFileName()

void mrpt::utils::CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

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

Member Data Documentation

§ create_simplemap

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

Whether to fill m_SFs (default=false)

Definition at line 118 of file CRangeBearingKFSLAM2D.h.

§ data_assoc_IC_chi2_thres

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 123 of file CRangeBearingKFSLAM2D.h.

§ data_assoc_IC_metric

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

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

Definition at line 124 of file CRangeBearingKFSLAM2D.h.

§ data_assoc_IC_ml_threshold

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 125 of file CRangeBearingKFSLAM2D.h.

§ data_assoc_method

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

Definition at line 121 of file CRangeBearingKFSLAM2D.h.

§ data_assoc_metric

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

Definition at line 122 of file CRangeBearingKFSLAM2D.h.

§ quantiles_3D_representation

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

Default = 3.

Definition at line 117 of file CRangeBearingKFSLAM2D.h.

§ std_sensor_range

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

Definition at line 116 of file CRangeBearingKFSLAM2D.h.

§ std_sensor_yaw

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 116 of file CRangeBearingKFSLAM2D.h.

§ stds_Q_no_odo

mrpt::math::CVectorFloat 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 115 of file CRangeBearingKFSLAM2D.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

§ TOptions()

Member Function Documentation

§ dumpToConsole()

§ dumpToTextStream()

§ dumpVar_bool()

§ dumpVar_double()

§ dumpVar_float()

§ dumpVar_int()

§ dumpVar_string()

§ loadFromConfigFile()

§ loadFromConfigFileName()

§ saveToConfigFile()

§ saveToConfigFileName()

Member Data Documentation

§ create_simplemap

§ data_assoc_IC_chi2_thres

§ data_assoc_IC_metric

§ data_assoc_IC_ml_threshold

§ data_assoc_method

§ data_assoc_metric

§ quantiles_3D_representation

§ std_sensor_range

§ std_sensor_yaw

§ stds_Q_no_odo