Generic options for the Kalman Filter algorithm in itself.
Definition at line 71 of file CKalmanFilterCapable.h.
#include <mrpt/bayes/CKalmanFilterCapable.h>
Public Member Functions | |
TKF_options () | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
This method load the options from a ".ini"-like file or memory-stored string list. | |
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 | |
TKFMethod | method |
The method to employ (default: kfEKFNaive) | |
bool | verbose |
If set to true timing and other information will be dumped during the execution (default=false) | |
int | IKF_iterations |
Number of refinement iterations, only for the IKF method. | |
bool | enable_profiler |
If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution. | |
bool | use_analytic_transition_jacobian |
(default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel. | |
bool | use_analytic_observation_jacobian |
(default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel. | |
bool | debug_verify_analytic_jacobians |
(default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch. | |
double | debug_verify_analytic_jacobians_threshold |
(default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians |
mrpt::bayes::TKF_options::TKF_options | ( | ) |
void mrpt::bayes::TKF_options::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::bayes::TKF_options::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) | [virtual] |
This method load the options from a ".ini"-like file or memory-stored string list.
Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:
[section] resolution=0.10 ; blah blah... modeSelection=1 ; 0=blah, 1=blah,...
Implements mrpt::utils::CLoadableOptions.
(default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch.
Definition at line 88 of file CKalmanFilterCapable.h.
(default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians
Definition at line 89 of file CKalmanFilterCapable.h.
If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution.
Definition at line 85 of file CKalmanFilterCapable.h.
Number of refinement iterations, only for the IKF method.
Definition at line 84 of file CKalmanFilterCapable.h.
The method to employ (default: kfEKFNaive)
Definition at line 82 of file CKalmanFilterCapable.h.
(default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel.
Definition at line 87 of file CKalmanFilterCapable.h.
(default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel.
Definition at line 86 of file CKalmanFilterCapable.h.
If set to true timing and other information will be dumped during the execution (default=false)
Definition at line 83 of file CKalmanFilterCapable.h.
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