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mrpt::maps::CPointsMap::TLikelihoodOptions Struct Reference

Detailed Description

Options used when evaluating "computeObservationLikelihood" in the derived classes.

See Also
CObservation::computeObservationLikelihood

Definition at line 191 of file maps/CPointsMap.h.

#include <mrpt/maps/CPointsMap.h>

Inheritance diagram for mrpt::maps::CPointsMap::TLikelihoodOptions:
Inheritance graph

Public Member Functions

 TLikelihoodOptions ()
 Initilization of default parameters. More...
 
virtual ~TLikelihoodOptions ()
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, 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 should clearly display all the contents of the structure in textual form, sending it to a CStream. More...
 
void writeToStream (mrpt::utils::CStream &out) const
 Binary dump to stream - for usage in derived classes' serialization. More...
 
void readFromStream (mrpt::utils::CStream &in)
 Binary dump to stream - for usage in derived classes' serialization. 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

double sigma_dist
 Sigma squared (variance, in meters) of the exponential used to model the likelihood (default= 0.5^2 meters) More...
 
double max_corr_distance
 Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters) More...
 
uint32_t decimation
 Speed up the likelihood computation by considering only one out of N rays (default=10) 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

CPointsMap::TLikelihoodOptions::TLikelihoodOptions ( )

Initilization of default parameters.

Definition at line 655 of file CPointsMap.cpp.

virtual mrpt::maps::CPointsMap::TLikelihoodOptions::~TLikelihoodOptions ( )
inlinevirtual

Definition at line 196 of file maps/CPointsMap.h.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CPointsMap::TLikelihoodOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

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

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 708 of file CPointsMap.cpp.

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

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 CPointsMap::TLikelihoodOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual

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 738 of file CPointsMap.cpp.

References MRPT_LOAD_CONFIG_VAR.

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 CPointsMap::TLikelihoodOptions::readFromStream ( mrpt::utils::CStream in)

Binary dump to stream - for usage in derived classes' serialization.

Definition at line 670 of file CPointsMap.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

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().

void CPointsMap::TLikelihoodOptions::writeToStream ( mrpt::utils::CStream out) const

Binary dump to stream - for usage in derived classes' serialization.

Definition at line 663 of file CPointsMap.cpp.

References version.

Member Data Documentation

uint32_t mrpt::maps::CPointsMap::TLikelihoodOptions::decimation

Speed up the likelihood computation by considering only one out of N rays (default=10)

Definition at line 205 of file maps/CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::internal_computeObservationLikelihood().

double mrpt::maps::CPointsMap::TLikelihoodOptions::max_corr_distance

Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters)

Definition at line 204 of file maps/CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::internal_computeObservationLikelihood().

double mrpt::maps::CPointsMap::TLikelihoodOptions::sigma_dist

Sigma squared (variance, in meters) of the exponential used to model the likelihood (default= 0.5^2 meters)

Definition at line 203 of file maps/CPointsMap.h.

Referenced by mrpt::maps::CPointsMap::internal_computeObservationLikelihood().




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