TMonteCarloLocalizationParams.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/maps/CMetricMap.h>
#include <mrpt/slam/TKLDParams.h>

namespace mrpt::slam
{
/** The struct for passing extra simulation parameters to the prediction stage
 *    when running a particle filter.
 *   \ingroup mrpt_slam_grp
 */
struct TMonteCarloLocalizationParams
{
    /** Default settings method.
     */
    TMonteCarloLocalizationParams();

    /** Copy constructor: take care of knowing what you do, since this copies
     * pointers. */
    TMonteCarloLocalizationParams(const TMonteCarloLocalizationParams& o);

    /** Copy operator: take care of knowing what you do, since this copies
     * pointers. */
    TMonteCarloLocalizationParams& operator=(
        const TMonteCarloLocalizationParams& o);

    /** [update stage] Must be set to a metric map used to estimate the
     * likelihood of observations
     */
    mrpt::maps::CMetricMap* metricMap{nullptr};

    /** [update stage] Alternative way (if metricMap==nullptr): A metric map is
     * supplied for each particle: There must be the same maps here as pose
     * m_particles.
     */
    mrpt::maps::TMetricMapList metricMaps;

    /** Parameters for dynamic sample size, KLD method. */
    TKLDParams KLD_params;
};

}  // namespace mrpt::slam