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TKLDParams.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef TKLDParams_H
10 #define TKLDParams_H
11 
13 
14 #include <mrpt/slam/link_pragmas.h>
15 
16 namespace mrpt
17 {
18  namespace slam
19  {
20  /** Option set for KLD algorithm. \ingroup mrpt_slam_grp
21  */
23  {
24  public:
25  TKLDParams();
26 
27  void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
28  void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
29 
30  /** 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.
31  */
32  double KLD_binSize_XY, KLD_binSize_PHI,
33  KLD_delta, KLD_epsilon;
34 
35  /** 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.
36  */
37  unsigned int KLD_minSampleSize, KLD_maxSampleSize;
38 
39  /** (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 */
41 
42  };
43 
44  } // End of namespace
45 } // End of namespace
46 
47 #endif
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Option set for KLD algorithm.
Definition: TKLDParams.h:22
This class allows loading and storing values and vectors of different types from a configuration text...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
unsigned int KLD_minSampleSize
Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only i...
Definition: TKLDParams.h:37
double KLD_minSamplesPerBin
(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleS...
Definition: TKLDParams.h:40
GLsizei const GLcharARB ** string
Definition: glew.h:3293
GLsizei GLsizei GLchar * source
Definition: glew.h:1739
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...



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