Option set for KLD algorithm.
Definition at line 43 of file TKLDParams.h.
#include <mrpt/slam/TKLDParams.h>
Public Member Functions | |
TKLDParams () | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. | |
void | dumpToTextStream (CStream &out) const |
See utils::CLoadableOptions. | |
Public Attributes | |
double | KLD_binSize_XY |
Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true. | |
double | KLD_binSize_PHI |
double | KLD_delta |
double | KLD_epsilon |
unsigned int | KLD_minSampleSize |
Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true. | |
unsigned int | KLD_maxSampleSize |
double | KLD_minSamplesPerBin |
(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * ofBinsOccupied in the last time step |
mrpt::slam::TKLDParams::TKLDParams | ( | ) |
void mrpt::slam::TKLDParams::dumpToTextStream | ( | CStream & | out ) | const [virtual] |
Implements mrpt::utils::CLoadableOptions.
void mrpt::slam::TKLDParams::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) | [virtual] |
Implements mrpt::utils::CLoadableOptions.
Definition at line 61 of file TKLDParams.h.
Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
Definition at line 61 of file TKLDParams.h.
unsigned int mrpt::slam::TKLDParams::KLD_maxSampleSize |
unsigned int mrpt::slam::TKLDParams::KLD_minSampleSize |
Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
Definition at line 66 of file TKLDParams.h.
Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), and mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfStandardProposal().
(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * ofBinsOccupied in the last time step
Definition at line 69 of file TKLDParams.h.
Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().
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