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TMonteCarloLocalizationParams.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #ifndef TMonteCarloLocalizationParams_H
10 #define TMonteCarloLocalizationParams_H
11 
12 #include <mrpt/maps/CMetricMap.h>
13 #include <mrpt/slam/TKLDParams.h>
14 
15 namespace mrpt
16 {
17 namespace slam
18 {
19 /** The struct for passing extra simulation parameters to the prediction stage
20  * when running a particle filter.
21  * \ingroup mrpt_slam_grp
22  */
24 {
25  /** Default settings method.
26  */
28 
29  /** Copy constructor: take care of knowing what you do, since this copies
30  * pointers. */
32 
33  /** Copy operator: take care of knowing what you do, since this copies
34  * pointers. */
37 
38  /** [update stage] Must be set to a metric map used to estimate the
39  * likelihood of observations
40  */
42 
43  /** [update stage] Alternative way (if metricMap==nullptr): A metric map is
44  * supplied for each particle: There must be the same maps here as pose
45  * m_particles.
46  */
48 
49  /** Parameters for dynamic sample size, KLD method. */
51 };
52 
53 } // End of namespace
54 } // End of namespace
55 
56 #endif
The struct for passing extra simulation parameters to the prediction stage when running a particle fi...
Option set for KLD algorithm.
Definition: TKLDParams.h:20
mrpt::maps::TMetricMapList metricMaps
[update stage] Alternative way (if metricMap==nullptr): A metric map is supplied for each particle: T...
mrpt::maps::CMetricMap * metricMap
[update stage] Must be set to a metric map used to estimate the likelihood of observations ...
std::deque< CMetricMap * > TMetricMapList
A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):
Definition: CMetricMap.h:315
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
TMonteCarloLocalizationParams & operator=(const TMonteCarloLocalizationParams &o)
Copy operator: take care of knowing what you do, since this copies pointers.
Declares a virtual base class for all metric maps storage classes.
Definition: CMetricMap.h:56
TKLDParams KLD_params
Parameters for dynamic sample size, KLD method.



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