mrpt::bayes::TKF_options Struct Reference

Generic options for the Kalman Filter algorithm in itself. More...

#include <mrpt/bayes/CKalmanFilterCapable.h>

Inheritance diagram for mrpt::bayes::TKF_options:

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Collaboration diagram for mrpt::bayes::TKF_options:

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List of all members.

Public Member Functions
	TKF_options ()
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	This method load the options from a ".ini"-like file or memory-stored string list.
void	dumpToTextStream (CStream &out) const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Public Attributes
TKFMethod	method
	The method to employ (default: kfEKFNaive).
bool	verbose
	If set to true timing and other information will be dumped during the execution (default=false).
int	IKF_iterations
	Number of refinement iterations, only for the IKF method.
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.
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.
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.
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.

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Detailed Description

Generic options for the Kalman Filter algorithm in itself.

Definition at line 67 of file CKalmanFilterCapable.h.

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Constructor & Destructor Documentation

mrpt::bayes::TKF_options::TKF_options

(

)

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Member Function Documentation

void mrpt::bayes::TKF_options::dumpToTextStream

(

CStream &

out

)

const [virtual]

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

Implements mrpt::utils::CLoadableOptions.

void mrpt::bayes::TKF_options::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.

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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 84 of file CKalmanFilterCapable.h.

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

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 81 of file CKalmanFilterCapable.h.

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

int mrpt::bayes::TKF_options::IKF_iterations

Number of refinement iterations, only for the IKF method.

Definition at line 80 of file CKalmanFilterCapable.h.

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

TKFMethod mrpt::bayes::TKF_options::method

The method to employ (default: kfEKFNaive).

Definition at line 78 of file CKalmanFilterCapable.h.

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

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 83 of file CKalmanFilterCapable.h.

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

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 82 of file CKalmanFilterCapable.h.

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

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 79 of file CKalmanFilterCapable.h.

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