class mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions¶

With this struct options are provided to the observation likelihood computation process.

#include <mrpt/maps/COccupancyGridMap3D.h>

class TLikelihoodOptions: public mrpt::config::CLoadableOptions
{
public:
    //
fields

    TLikelihoodMethod likelihoodMethod {lmLikelihoodField_Thrun};
    float LF_stdHit {0.35f};
    float LF_zHit {0.95f};
    float LF_zRandom {0.05f};
    float LF_maxRange {20.0f};
    uint32_t LF_decimation {1};
    float LF_maxCorrsDistance {0.3f};
    bool LF_useSquareDist {false};
    int32_t rayTracing_decimation {10};
    float rayTracing_stdHit {1.0f};

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
};

Inherited Members¶

public:
    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields¶

TLikelihoodMethod likelihoodMethod {lmLikelihoodField_Thrun}

The selected method to compute an observation likelihood.

float LF_stdHit {0.35f}

[LikelihoodField] The laser range “sigma” used in computations; Default value = 0.35

float LF_zHit {0.95f}

[LikelihoodField]

float LF_maxRange {20.0f}

[LikelihoodField] The max.

range of the sensor (Default= 81 m)

uint32_t LF_decimation {1}

[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation

float LF_maxCorrsDistance {0.3f}

[LikelihoodField] The max.

distance for searching correspondences around each sensed point

bool LF_useSquareDist {false}

[LikelihoodField] (Default:false) Use exp(dist^2/std^2) instead of exp(dist^2/std^2)

int32_t rayTracing_decimation {10}

[rayTracing] One out of “rayTracing_decimation” rays will be simulated and compared only: set to 1 to use all the sensed ranges.

float rayTracing_stdHit {1.0f}

[rayTracing] The laser range sigma.

Methods¶

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

This method load the options from a “.ini” file.

Only those parameters found in the given “section” and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an “.ini” file:

[section]
resolution=0.10     ; blah blah...
modeSelection=1     ; 0=blah, 1=blah,...

virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const

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