00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef TKLDParams_H 00029 #define TKLDParams_H 00030 00031 #include <mrpt/utils/CLoadableOptions.h> 00032 00033 #include <mrpt/slam/link_pragmas.h> 00034 00035 namespace mrpt 00036 { 00037 namespace slam 00038 { 00039 using namespace mrpt::utils; 00040 00041 /** Option set for KLD algorithm. 00042 */ 00043 class SLAM_IMPEXP TKLDParams : public utils::CLoadableOptions 00044 { 00045 public: 00046 TKLDParams(); 00047 00048 /** See utils::CLoadableOptions 00049 */ 00050 void loadFromConfigFile( 00051 const mrpt::utils::CConfigFileBase &source, 00052 const std::string §ion); 00053 00054 /** See utils::CLoadableOptions 00055 */ 00056 void dumpToTextStream(CStream &out) const; 00057 00058 00059 /** 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. 00060 */ 00061 double KLD_binSize_XY, KLD_binSize_PHI, 00062 KLD_delta, KLD_epsilon; 00063 00064 /** 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. 00065 */ 00066 unsigned int KLD_minSampleSize, KLD_maxSampleSize; 00067 00068 /** (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 */ 00069 double KLD_minSamplesPerBin; 00070 00071 }; 00072 00073 } // End of namespace 00074 } // End of namespace 00075 00076 #endif
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