Main MRPT website > C++ reference for MRPT 1.5.5
List of all members | Public Member Functions | Public Attributes | Static Protected Member Functions
mrpt::bayes::TKF_options Struct Reference

Detailed Description

Generic options for the Kalman Filter algorithm in itself.

Definition at line 53 of file CKalmanFilterCapable.h.

#include <mrpt/bayes/CKalmanFilterCapable.h>

Inheritance diagram for mrpt::bayes::TKF_options:
Inheritance graph

Public Member Functions

 TKF_options (mrpt::utils::VerbosityLevel &verb_level_ref)
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &iniFile, const std::string &section) MRPT_OVERRIDE
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 This method must display clearly all the contents of the structure in textual form, sending it to a CStream. More...
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 

Public Attributes

TKFMethod method
 The method to employ (default: kfEKFNaive) More...
 
mrpt::utils::VerbosityLevel & verbosity_level
 
int IKF_iterations
 Number of refinement iterations, only for the IKF method. More...
 
bool enable_profiler
 If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution. More...
 
bool use_analytic_transition_jacobian
 (default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel. More...
 
bool use_analytic_observation_jacobian
 (default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel. More...
 
bool debug_verify_analytic_jacobians
 (default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch. More...
 
double debug_verify_analytic_jacobians_threshold
 (default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians More...
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

mrpt::bayes::TKF_options::TKF_options ( mrpt::utils::VerbosityLevel &  verb_level_ref)
inline

Definition at line 55 of file CKalmanFilterCapable.h.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void mrpt::bayes::TKF_options::dumpToTextStream ( mrpt::utils::CStream out) const
inlinevirtual

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 80 of file CKalmanFilterCapable.h.

References enable_profiler, IKF_iterations, method, and verbosity_level.

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
void mrpt::bayes::TKF_options::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
inlinevirtual

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,...
See Also
loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 67 of file CKalmanFilterCapable.h.

References debug_verify_analytic_jacobians, debug_verify_analytic_jacobians_threshold, enable_profiler, IKF_iterations, method, MRPT_LOAD_CONFIG_VAR, use_analytic_observation_jacobian, use_analytic_transition_jacobian, and verbosity_level.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::loadOptions(), and mrpt::slam::CRangeBearingKFSLAM::loadOptions().

void CLoadableOptions::loadFromConfigFileName ( const std::string config_file,
const std::string section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See Also
loadFromConfigFile

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtualinherited
void CLoadableOptions::saveToConfigFileName ( const std::string config_file,
const std::string section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See Also
saveToConfigFile, loadFromConfigFileName

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

Member Data Documentation

bool mrpt::bayes::TKF_options::debug_verify_analytic_jacobians

(default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch.

Definition at line 97 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

double mrpt::bayes::TKF_options::debug_verify_analytic_jacobians_threshold

(default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians

Definition at line 98 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

bool mrpt::bayes::TKF_options::enable_profiler

If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution.

Definition at line 94 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

int mrpt::bayes::TKF_options::IKF_iterations

Number of refinement iterations, only for the IKF method.

Definition at line 93 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

TKFMethod mrpt::bayes::TKF_options::method

The method to employ (default: kfEKFNaive)

Definition at line 91 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

bool mrpt::bayes::TKF_options::use_analytic_observation_jacobian

(default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel.

Definition at line 96 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

bool mrpt::bayes::TKF_options::use_analytic_transition_jacobian

(default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel.

Definition at line 95 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

mrpt::utils::VerbosityLevel& mrpt::bayes::TKF_options::verbosity_level

Definition at line 92 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().




Page generated by Doxygen 1.8.6 for MRPT 1.5.5 Git: e06b63d Fri Dec 1 14:41:11 2017 +0100 at sáb dic 2 13:00:21 CET 2017