Main MRPT website > C++ reference
MRPT logo
List of all members | Public Member Functions | Public Attributes | Static Protected Member Functions
mrpt::slam::TKLDParams Class Reference

Detailed Description

Option set for KLD algorithm.

Definition at line 24 of file TKLDParams.h.

#include <mrpt/slam/TKLDParams.h>

Inheritance diagram for mrpt::slam::TKLDParams:
Inheritance graph
[legend]

Public Member Functions

 TKLDParams ()
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions. More...
 
void dumpToTextStream (CStream &out) const
 See utils::CLoadableOptions. More...
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 

Public Attributes

double KLD_binSize_XY
 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. More...
 
double KLD_binSize_PHI
 
double KLD_delta
 
double KLD_epsilon
 
unsigned int KLD_minSampleSize
 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. More...
 
unsigned int KLD_maxSampleSize
 
double KLD_minSamplesPerBin
 (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 More...
 

Static Protected Member Functions

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...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

◆ TKLDParams()

mrpt::slam::TKLDParams::TKLDParams ( )

Member Function Documentation

◆ dumpToConsole()

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

◆ dumpToTextStream()

void mrpt::slam::TKLDParams::dumpToTextStream ( CStream out) const
virtual

◆ dumpVar_bool()

static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited

◆ dumpVar_double()

static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited

◆ dumpVar_float()

static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited

◆ dumpVar_int()

static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

◆ dumpVar_string()

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited

◆ loadFromConfigFile()

void mrpt::slam::TKLDParams::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual

◆ loadFromConfigFileName()

void mrpt::utils::CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file,
const std::string &  section 
)
inherited

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

◆ saveToConfigFile()

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string &  section 
) const
inlinevirtualinherited

◆ saveToConfigFileName()

void mrpt::utils::CLoadableOptions::saveToConfigFileName ( const std::string &  config_file,
const std::string &  section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also
saveToConfigFile, loadFromConfigFileName

Member Data Documentation

◆ KLD_binSize_PHI

double mrpt::slam::TKLDParams::KLD_binSize_PHI

Definition at line 42 of file TKLDParams.h.

◆ KLD_binSize_XY

double mrpt::slam::TKLDParams::KLD_binSize_XY

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.

Definition at line 42 of file TKLDParams.h.

◆ KLD_delta

double mrpt::slam::TKLDParams::KLD_delta

◆ KLD_epsilon

double mrpt::slam::TKLDParams::KLD_epsilon

◆ KLD_maxSampleSize

unsigned int mrpt::slam::TKLDParams::KLD_maxSampleSize

◆ KLD_minSampleSize

unsigned int mrpt::slam::TKLDParams::KLD_minSampleSize

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.

Definition at line 47 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation< CPose2D, CMonteCarloLocalization2D >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), and mrpt::slam::PF_implementation< CPose2D, CMonteCarloLocalization2D >::PF_SLAM_implementation_pfStandardProposal().

◆ KLD_minSamplesPerBin

double mrpt::slam::TKLDParams::KLD_minSamplesPerBin

(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

Definition at line 50 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation< CPose2D, CMonteCarloLocalization2D >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().




Page generated by Doxygen 1.8.14 for MRPT 1.1.0 SVN: at lun oct 28 00:54:49 CET 2019 Hosted on:
SourceForge.net Logo