mrpt::slam::TKLDParams Class Reference

Option set for KLD algorithm. More...

#include <mrpt/slam/TKLDParams.h>

Inheritance diagram for mrpt::slam::TKLDParams:

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Collaboration diagram for mrpt::slam::TKLDParams:

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List of all members.

Public Member Functions
	TKLDParams ()
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
Public Attributes
double	KLD_binSize_XY
	Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
double	KLD_binSize_PHI
double	KLD_delta
double	KLD_epsilon
unsigned int	KLD_minSampleSize
	Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
unsigned int	KLD_maxSampleSize
double	KLD_minSamplesPerBin
	(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * ofBinsOccupied in the last time step

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Detailed Description

Option set for KLD algorithm.

Definition at line 43 of file TKLDParams.h.

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Constructor & Destructor Documentation

mrpt::slam::TKLDParams::TKLDParams

(

)

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Member Function Documentation

void mrpt::slam::TKLDParams::dumpToTextStream

(

CStream &

out

)

const [virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

void mrpt::slam::TKLDParams::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)			[virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

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Member Data Documentation

double mrpt::slam::TKLDParams::KLD_binSize_PHI

Definition at line 61 of file TKLDParams.h.

double mrpt::slam::TKLDParams::KLD_binSize_XY

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.

Definition at line 61 of file TKLDParams.h.

double mrpt::slam::TKLDParams::KLD_delta

Definition at line 61 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), and mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_implementation_pfStandardProposal().

double mrpt::slam::TKLDParams::KLD_epsilon

Definition at line 61 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), and mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_implementation_pfStandardProposal().

unsigned int mrpt::slam::TKLDParams::KLD_maxSampleSize

Definition at line 66 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), and mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_implementation_pfStandardProposal().

unsigned int mrpt::slam::TKLDParams::KLD_minSampleSize

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.

Definition at line 66 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), and mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_implementation_pfStandardProposal().

double mrpt::slam::TKLDParams::KLD_minSamplesPerBin

(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * ofBinsOccupied in the last time step

Definition at line 69 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().