The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter.
- See also
- prediction_and_update
Definition at line 120 of file maps/CMultiMetricMapPDF.h.
#include <mrpt/maps/CMultiMetricMapPDF.h>
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static void | dumpVar_int (CStream &out, const char *varName, int v) |
| Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
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static void | dumpVar_float (CStream &out, const char *varName, float v) |
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static void | dumpVar_double (CStream &out, const char *varName, double v) |
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static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
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static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
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mrpt::maps::CMultiMetricMapPDF::TPredictionParams::TPredictionParams |
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void mrpt::utils::CLoadableOptions::dumpToConsole |
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void mrpt::maps::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream |
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mrpt::utils::CStream & |
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This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented from mrpt::utils::CLoadableOptions.
static void mrpt::utils::CLoadableOptions::dumpVar_bool |
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CStream & |
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const char * |
varName, |
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bool |
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static void mrpt::utils::CLoadableOptions::dumpVar_double |
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CStream & |
out, |
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const char * |
varName, |
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double |
v |
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static void mrpt::utils::CLoadableOptions::dumpVar_float |
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CStream & |
out, |
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const char * |
varName, |
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float |
v |
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static void mrpt::utils::CLoadableOptions::dumpVar_int |
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CStream & |
out, |
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const char * |
varName, |
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int |
v |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
static void mrpt::utils::CLoadableOptions::dumpVar_string |
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CStream & |
out, |
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const char * |
varName, |
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const std::string & |
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void mrpt::maps::CMultiMetricMapPDF::TPredictionParams::loadFromConfigFile |
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const mrpt::utils::CConfigFileBase & |
source, |
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const std::string & |
section |
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This method load the options from a ".ini"-like file or memory-stored string list.
Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:
[section]
resolution = 0.10
modeSelection = 1
- See also
- loadFromConfigFileName, saveToConfigFile
Implements mrpt::utils::CLoadableOptions.
void mrpt::utils::CLoadableOptions::loadFromConfigFileName |
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const std::string & |
config_file, |
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const std::string & |
section |
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Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
- See also
- loadFromConfigFile
void mrpt::utils::CLoadableOptions::saveToConfigFileName |
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const std::string & |
config_file, |
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const std::string & |
section |
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float mrpt::maps::CMultiMetricMapPDF::TPredictionParams::ICPGlobalAlign_MinQuality |
[prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum quality ratio [0,1] of the alignment such as it will be accepted.
Otherwise, raw odometry is used for those bad cases (default=0.7).
Definition at line 142 of file maps/CMultiMetricMapPDF.h.
int mrpt::maps::CMultiMetricMapPDF::TPredictionParams::pfOptimalProposal_mapSelection |
[pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal") Select the map on which to calculate the optimal proposal distribution.
Values: 0: Gridmap -> Uses Scan matching-based approximation (based on Stachniss' work) 1: Landmarks -> Uses matching to approximate optimal 2: Beacons -> Used for exact optimal proposal in RO-SLAM 3: Pointsmap -> Uses Scan matching-based approximation with a map of points (based on Stachniss' work) Default = 0
Definition at line 137 of file maps/CMultiMetricMapPDF.h.
[update stage] If the likelihood is computed through the occupancy grid map, then this structure is passed to the map when updating the particles weights in the update stage.
Definition at line 146 of file maps/CMultiMetricMapPDF.h.