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mrpt::slam::CLandmarksMap::TLikelihoodOptions Struct Reference


Detailed Description

With this struct options are provided to the likelihood computations.

Definition at line 296 of file CLandmarksMap.h.

#include <mrpt/slam/CLandmarksMap.h>

Inheritance diagram for mrpt::slam::CLandmarksMap::TLikelihoodOptions:
Inheritance graph
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List of all members.

Classes

struct  TGPSOrigin
 This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. More...

Public Member Functions

 TLikelihoodOptions ()
 Initilization of default parameters.
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions.
void dumpToTextStream (CStream &out) const
 See utils::CLoadableOptions.

Public Attributes

unsigned int rangeScan2D_decimation
 The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation)
double SIFTs_sigma_euclidean_dist
double SIFTs_sigma_descriptor_dist
float SIFTs_mahaDist_std
float SIFTnullCorrespondenceDistance
int SIFTs_decimation
 Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation.
float beaconRangesStd
 The standard deviation used for Beacon ranges likelihood (default=0.08).
float alphaRatio
 The ratio between gaussian and uniform distribution (default=1).
float beaconMaxRange
 Maximun reliable beacon range value (default=20)
struct VISION_IMPEXP
mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin 
GPSOrigin
float GPS_sigma
 A constant "sigma" for GPS localization data (in meters)

Constructor & Destructor Documentation

mrpt::slam::CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions (  )

Initilization of default parameters.


Member Function Documentation

void mrpt::slam::CLandmarksMap::TLikelihoodOptions::dumpToTextStream ( CStream out ) const [virtual]
void mrpt::slam::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]

Member Data Documentation

The ratio between gaussian and uniform distribution (default=1).

Definition at line 335 of file CLandmarksMap.h.

Maximun reliable beacon range value (default=20)

Definition at line 339 of file CLandmarksMap.h.

The standard deviation used for Beacon ranges likelihood (default=0.08).

Definition at line 331 of file CLandmarksMap.h.

A constant "sigma" for GPS localization data (in meters)

Definition at line 379 of file CLandmarksMap.h.

The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation)

Definition at line 315 of file CLandmarksMap.h.

Definition at line 323 of file CLandmarksMap.h.

Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation.

Definition at line 327 of file CLandmarksMap.h.

Definition at line 321 of file CLandmarksMap.h.

Definition at line 319 of file CLandmarksMap.h.

Definition at line 317 of file CLandmarksMap.h.




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