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:

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

See utils::CLoadableOptions.

Reimplemented from mrpt::utils::CLoadableOptions.

◆ 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

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

◆ 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

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters, mrpt::reactivenav::CHolonomicND::TOptions, and mrpt::reactivenav::CHolonomicVFF::TOptions.

Definition at line 68 of file CLoadableOptions.h.

References THROW_EXCEPTION.

◆ 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

Definition at line 42 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_epsilon

double mrpt::slam::TKLDParams::KLD_epsilon

Definition at line 42 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_maxSampleSize

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

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_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().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TKLDParams()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ KLD_binSize_PHI

◆ KLD_binSize_XY

◆ KLD_delta

◆ KLD_epsilon

◆ KLD_maxSampleSize

◆ KLD_minSampleSize

◆ KLD_minSamplesPerBin