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mrpt::slam::CRangeBearingKFSLAM::TOptions Struct Reference


Detailed Description

The options for the algorithm.

Definition at line 164 of file CRangeBearingKFSLAM.h.

#include <mrpt/slam/CRangeBearingKFSLAM.h>

Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM::TOptions:
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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 7-length vector with the std.
float std_sensor_range
 The std.
float std_sensor_yaw
float std_sensor_pitch
float std_odo_z_additional
 Additional std.
bool doPartitioningExperiment
 If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.
float quantiles_3D_representation
 Default = 3.
int partitioningMethod
 Applicable only if "doPartitioningExperiment=true".
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)
bool create_simplemap
 Whether to fill m_SFs (default=false)
bool force_ignore_odometry
 Whether to ignore the input odometry and behave as if there was no odometry at all (default: false)

Constructor & Destructor Documentation

mrpt::slam::CRangeBearingKFSLAM::TOptions::TOptions (  )

Default values.


Member Function Documentation

void mrpt::slam::CRangeBearingKFSLAM::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::CRangeBearingKFSLAM::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 213 of file CRangeBearingKFSLAM.h.

Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)

Definition at line 209 of file CRangeBearingKFSLAM.h.

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

Definition at line 210 of file CRangeBearingKFSLAM.h.

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

Definition at line 211 of file CRangeBearingKFSLAM.h.

Definition at line 207 of file CRangeBearingKFSLAM.h.

Definition at line 208 of file CRangeBearingKFSLAM.h.

If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.

Definition at line 194 of file CRangeBearingKFSLAM.h.

Whether to ignore the input odometry and behave as if there was no odometry at all (default: false)

Definition at line 215 of file CRangeBearingKFSLAM.h.

Applicable only if "doPartitioningExperiment=true".

0: Automatically detect partition through graph-cut. N>=1: Cut every "N" observations.

Definition at line 204 of file CRangeBearingKFSLAM.h.

Default = 3.

Definition at line 198 of file CRangeBearingKFSLAM.h.

Additional std.

dev. to sum to the motion model in the z axis (useful when there is only 2D odometry and we want to put things hard to the algorithm) (default=0)

Definition at line 190 of file CRangeBearingKFSLAM.h.

Definition at line 186 of file CRangeBearingKFSLAM.h.

The std.

deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.

Definition at line 186 of file CRangeBearingKFSLAM.h.

Definition at line 186 of file CRangeBearingKFSLAM.h.

A 7-length vector with the std.

deviation of the transition model in (x,y,z, qr,qx,qy,qz) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y z: In meters.

Definition at line 182 of file CRangeBearingKFSLAM.h.




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