class mrpt::slam::TKLDParams

Overview

Option set for KLD algorithm.

#include <mrpt/slam/TKLDParams.h>

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

    double KLD_binSize_XY {0.2f};
    double KLD_binSize_PHI;
    double KLD_delta {0.01f};
    double KLD_epsilon {0.02f};
    unsigned int KLD_minSampleSize {250};
    unsigned int KLD_maxSampleSize {100000};
    double KLD_minSamplesPerBin {0};

    // construction

    TKLDParams();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) 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

double KLD_binSize_XY {0.2f}

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.

unsigned int KLD_minSampleSize {250}

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.

double KLD_minSamplesPerBin {0}

(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

Methods

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

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

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,...