Options used when evaluating "computeObservationLikelihood" in the derived classes.
Definition at line 157 of file CPointsMap.h.
#include <mrpt/slam/CPointsMap.h>
Public Member Functions | |
TLikelihoodOptions () | |
Initilization of default parameters. | |
virtual | ~TLikelihoodOptions () |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. | |
void | dumpToTextStream (CStream &out) const |
See utils::CLoadableOptions. | |
void | writeToStream (CStream &out) const |
Binary dump to stream - for usage in derived classes' serialization. | |
void | readFromStream (CStream &in) |
Binary dump to stream - for usage in derived classes' serialization. | |
Public Attributes | |
double | sigma_dist |
Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters) | |
double | max_corr_distance |
Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters) | |
uint32_t | decimation |
Speed up the likelihood computation by considering only one out of N rays (default=10) |
mrpt::slam::CPointsMap::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
Initilization of default parameters.
virtual mrpt::slam::CPointsMap::TLikelihoodOptions::~TLikelihoodOptions | ( | ) | [inline, virtual] |
Definition at line 162 of file CPointsMap.h.
void mrpt::slam::CPointsMap::TLikelihoodOptions::dumpToTextStream | ( | CStream & | out ) | const [virtual] |
Implements mrpt::utils::CLoadableOptions.
void mrpt::slam::CPointsMap::TLikelihoodOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) | [virtual] |
Implements mrpt::utils::CLoadableOptions.
void mrpt::slam::CPointsMap::TLikelihoodOptions::readFromStream | ( | CStream & | in ) |
Binary dump to stream - for usage in derived classes' serialization.
void mrpt::slam::CPointsMap::TLikelihoodOptions::writeToStream | ( | CStream & | out ) | const |
Binary dump to stream - for usage in derived classes' serialization.
Speed up the likelihood computation by considering only one out of N rays (default=10)
Definition at line 177 of file CPointsMap.h.
Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters)
Definition at line 176 of file CPointsMap.h.
Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters)
Definition at line 175 of file CPointsMap.h.
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