TMonteCarloLocalizationParams.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef TMonteCarloLocalizationParams_H
#define TMonteCarloLocalizationParams_H

#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;

    /** [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;
};

}
#endif