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


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:
Inheritance graph
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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)

Constructor & Destructor Documentation

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

Default values.


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.


Member Data Documentation

Whether to fill m_SFs (default=false)

Definition at line 139 of file CRangeBearingKFSLAM2D.h.

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.

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

Definition at line 145 of file CRangeBearingKFSLAM2D.h.

Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)

Definition at line 146 of file CRangeBearingKFSLAM2D.h.

Definition at line 142 of file CRangeBearingKFSLAM2D.h.

Definition at line 143 of file CRangeBearingKFSLAM2D.h.

Default = 3.

Definition at line 138 of file CRangeBearingKFSLAM2D.h.

Definition at line 137 of file CRangeBearingKFSLAM2D.h.

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.

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.




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