Parameters related with inserting observations into the map:
Definition at line 172 of file CGasConcentrationGridMap2D.h.
#include <mrpt/slam/CGasConcentrationGridMap2D.h>
Public Member Functions | |
TInsertionOptions () | |
Default values loader. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. | |
void | dumpToTextStream (CStream &out) const |
See utils::CLoadableOptions. | |
Public Attributes | |
For all mapping methods | |
uint16_t | sensorType |
The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...) | |
Kernel methods (mrKernelDM, mrKernelDMV) | |
float | sigma |
The sigma of the "Parzen"-kernel Gaussian. | |
float | cutoffRadius |
The cutoff radius for updating cells. | |
float | R_min |
float | R_max |
Limits for normalization of sensor readings. | |
double | dm_sigma_omega |
[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CGasConcentrationGridMap2D) */ | |
Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate) | |
float | KF_covSigma |
The "sigma" for the initial covariance value between cells (in meters). | |
float | KF_initialCellStd |
The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units). | |
float | KF_observationModelNoise |
The sensor model noise (in normalized concentration units). | |
float | KF_defaultCellMeanValue |
The default value for the mean of cells' concentration. | |
uint16_t | KF_W_size |
[mrKalmanApproximate] The size of the window of neighbor cells. | |
Parameters of the "MOS model" | |
bool | useMOSmodel |
If true use MOS model before map algorithm. | |
float | tauR |
Tau values for the rise sensor's phases. | |
float | tauD |
Tau values for the decay (tauD) sensor's phases. | |
uint16_t | lastObservations_size |
The number of observations to keep in m_lastObservations. | |
size_t | winNoise_size |
The number of observations used to reduce noise on signal. | |
uint16_t | decimate_value |
The decimate frecuency applied after noise filtering. | |
vector_float | calibrated_tauD_voltages |
Measured values of K= 1/tauD for different volatile concentrations. | |
vector_float | calibrated_tauD_values |
vector_float | calibrated_delay_RobotSpeeds |
Measured values of the delay (memory effect) for different robot speeds. | |
vector_float | calibrated_delay_values |
uint16_t | enose_id |
id for the enose used to generate this map (must be < gasGrid_count) | |
bool | save_maplog |
If true save generated gas map as a log file. |
mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::TInsertionOptions | ( | ) |
Default values loader.
void mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream | ( | CStream & | out ) | const [virtual] |
Implements mrpt::utils::CLoadableOptions.
void mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) | [virtual] |
Implements mrpt::utils::CLoadableOptions.
vector_float mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::calibrated_delay_RobotSpeeds |
Measured values of the delay (memory effect) for different robot speeds.
Definition at line 219 of file CGasConcentrationGridMap2D.h.
Definition at line 220 of file CGasConcentrationGridMap2D.h.
Definition at line 217 of file CGasConcentrationGridMap2D.h.
Measured values of K= 1/tauD for different volatile concentrations.
Definition at line 216 of file CGasConcentrationGridMap2D.h.
The cutoff radius for updating cells.
Definition at line 191 of file CGasConcentrationGridMap2D.h.
The decimate frecuency applied after noise filtering.
Definition at line 214 of file CGasConcentrationGridMap2D.h.
[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CGasConcentrationGridMap2D) */
Definition at line 193 of file CGasConcentrationGridMap2D.h.
id for the enose used to generate this map (must be < gasGrid_count)
Definition at line 222 of file CGasConcentrationGridMap2D.h.
The "sigma" for the initial covariance value between cells (in meters).
Definition at line 198 of file CGasConcentrationGridMap2D.h.
The default value for the mean of cells' concentration.
Definition at line 201 of file CGasConcentrationGridMap2D.h.
The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).
Definition at line 199 of file CGasConcentrationGridMap2D.h.
The sensor model noise (in normalized concentration units).
Definition at line 200 of file CGasConcentrationGridMap2D.h.
[mrKalmanApproximate] The size of the window of neighbor cells.
Definition at line 202 of file CGasConcentrationGridMap2D.h.
The number of observations to keep in m_lastObservations.
Definition at line 212 of file CGasConcentrationGridMap2D.h.
Limits for normalization of sensor readings.
Definition at line 192 of file CGasConcentrationGridMap2D.h.
Definition at line 192 of file CGasConcentrationGridMap2D.h.
If true save generated gas map as a log file.
Definition at line 223 of file CGasConcentrationGridMap2D.h.
The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...)
Definition at line 185 of file CGasConcentrationGridMap2D.h.
The sigma of the "Parzen"-kernel Gaussian.
Definition at line 190 of file CGasConcentrationGridMap2D.h.
Tau values for the decay (tauD) sensor's phases.
Definition at line 210 of file CGasConcentrationGridMap2D.h.
Tau values for the rise sensor's phases.
Definition at line 209 of file CGasConcentrationGridMap2D.h.
If true use MOS model before map algorithm.
Definition at line 207 of file CGasConcentrationGridMap2D.h.
The number of observations used to reduce noise on signal.
Definition at line 213 of file CGasConcentrationGridMap2D.h.
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