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mrpt::bayes::TKF_options Struct Reference

Detailed Description

Generic options for the Kalman Filter algorithm in itself.

Definition at line 84 of file CKalmanFilterCapable.h.

#include <mrpt/bayes/CKalmanFilterCapable.h>

Inheritance diagram for mrpt::bayes::TKF_options:
Inheritance graph
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Public Member Functions

 TKF_options ()
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &iniFile, const std::string &section)
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (CStream &out) const
 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...
 
virtual void dumpToTextStream (CStream &out) const
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...
 

Public Attributes

TKFMethod method
 The method to employ (default: kfEKFNaive) More...
 
bool verbose
 If set to true timing and other information will be dumped during the execution (default=false) More...
 
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

◆ TKF_options()

mrpt::bayes::TKF_options::TKF_options ( )
inline

Definition at line 86 of file CKalmanFilterCapable.h.

Member Function Documentation

◆ dumpToConsole()

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

◆ dumpToTextStream() [1/2]

void mrpt::bayes::TKF_options::dumpToTextStream ( CStream out) const
inline

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

Definition at line 113 of file CKalmanFilterCapable.h.

References mrpt::utils::CStream::printf().

◆ dumpToTextStream() [2/2]

virtual void mrpt::utils::CLoadableOptions::dumpToTextStream ( CStream out) const
virtualinherited

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 in mrpt::slam::TSetOfMetricMapInitializers, mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions, mrpt::slam::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::slam::CLandmarksMap::TLikelihoodOptions, mrpt::slam::CColouredPointsMap::TColourOptions, mrpt::slam::CLandmarksMap::TInsertionOptions, mrpt::slam::CPointsMap::TLikelihoodOptions, mrpt::slam::CPointsMap::TInsertionOptions, mrpt::slam::CBeaconMap::TInsertionOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::slam::COctoMap::TLikelihoodOptions, mrpt::slam::CBeaconMap::TLikelihoodOptions, mrpt::slam::CHeightGridMap2D::TInsertionOptions, mrpt::slam::CMultiMetricMapPDF::TPredictionParams, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::slam::CReflectivityGridMap2D::TInsertionOptions, mrpt::slam::CMultiMetricMap::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::COctoMap::TInsertionOptions, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CMetricMapBuilderICP::TConfigParams, and mrpt::slam::TKLDParams.

◆ dumpVar_bool()

static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited

◆ dumpVar_double()

static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited

◆ dumpVar_float()

static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited

◆ dumpVar_int()

static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

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

◆ dumpVar_string()

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited

◆ loadFromConfigFile()

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 98 of file CKalmanFilterCapable.h.

References MRPT_LOAD_CONFIG_VAR, and mrpt::utils::CConfigFileBase::read_enum().

◆ loadFromConfigFileName()

void mrpt::utils::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

◆ saveToConfigFile()

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string &  section 
) const
inlinevirtualinherited

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

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters.

Definition at line 94 of file CLoadableOptions.h.

References THROW_EXCEPTION.

◆ saveToConfigFileName()

void mrpt::utils::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

Member Data Documentation

◆ debug_verify_analytic_jacobians

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 130 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

◆ debug_verify_analytic_jacobians_threshold

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 131 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

◆ enable_profiler

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 127 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

◆ IKF_iterations

int mrpt::bayes::TKF_options::IKF_iterations

Number of refinement iterations, only for the IKF method.

Definition at line 126 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

◆ method

TKFMethod mrpt::bayes::TKF_options::method

The method to employ (default: kfEKFNaive)

Definition at line 124 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

◆ use_analytic_observation_jacobian

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 129 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

◆ use_analytic_transition_jacobian

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 128 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().

◆ verbose

bool mrpt::bayes::TKF_options::verbose

If set to true timing and other information will be dumped during the execution (default=false)

Definition at line 125 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration().




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