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TMonteCarloLocalizationParams.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 TMonteCarloLocalizationParams_H
10 #define TMonteCarloLocalizationParams_H
11 
12 #include <mrpt/maps/CMetricMap.h>
13 #include <mrpt/slam/TKLDParams.h>
14 
15 #include <mrpt/slam/link_pragmas.h>
16 
17 namespace mrpt
18 {
19  namespace slam
20  {
21  /** The struct for passing extra simulation parameters to the prediction stage
22  * when running a particle filter.
23  * \ingroup mrpt_slam_grp
24  */
26  {
27  /** Default settings method.
28  */
30 
31  /** Copy constructor: take care of knowing what you do, since this copies pointers. */
32  TMonteCarloLocalizationParams( const TMonteCarloLocalizationParams &o );
33 
34  /** Copy operator: take care of knowing what you do, since this copies pointers. */
35  TMonteCarloLocalizationParams & operator =(const TMonteCarloLocalizationParams &o);
36 
37  /** [update stage] Must be set to a metric map used to estimate the likelihood of observations
38  */
40 
41  /** [update stage] Alternative way (if metricMap==NULL): A metric map is supplied for each particle: There must be the same maps here as pose m_particles.
42  */
44 
45  TKLDParams KLD_params; //!< Parameters for dynamic sample size, KLD method.
46  };
47 
48  } // End of namespace
49 } // End of namespace
50 
51 #endif
The struct for passing extra simulation parameters to the prediction stage when running a particle fi...
Option set for KLD algorithm.
Definition: TKLDParams.h:22
mrpt::maps::TMetricMapList metricMaps
[update stage] Alternative way (if metricMap==NULL): A metric map is supplied for each particle: Ther...
mrpt::maps::CMetricMap * metricMap
[update stage] Must be set to a metric map used to estimate the likelihood of observations ...
std::deque< CMetricMap * > TMetricMapList
A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):
Declares a virtual base class for all metric maps storage classes.
TKLDParams KLD_params
Parameters for dynamic sample size, KLD method.



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