mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions Struct Reference

Parameters related with inserting observations into the map:. More...

#include <mrpt/slam/CGasConcentrationGridMap2D.h>

Inheritance diagram for mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions:

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Collaboration diagram for mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions:

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List of all members.

Public Member Functions
	TInsertionOptions ()
	Default values loader:.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
Public Attributes
float	sigma
	The sigma of the "Parzen"-kernel Gaussian.
float	cutoffRadius
	The cutoff radius for updating cells.
float	R_min
	Limits for normalization of sensor readings.
float	R_max
float	KF_covSigma
	[KF model] The "sigma" for the initial covariance value between cells (in meters).
float	KF_initialCellStd
	[KF model] The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).
float	KF_observationModelNoise
	[KF model] The sensor model noise (in normalized concentration units).
float	KF_defaultCellMeanValue
	[KF model] The default value for the mean of cells' concentration.
uint16_t	KF_W_size
	[KF2 algorithm] The size of the window of neighbor cells.
uint16_t	KF_sensorType
	[KF3 algortihm] The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, .
float	tauR
	Tau values for the rise (tauR) and decay (tauD) sensor's phases.
float	tauD
TdataMap	new_Obs
	[KF3 algortihm] The last N GasObservations, used for the Kalman Filter with deconvolution estimation.
TdataMap	new_ANS
std::vector< TdataMap >	m_lastObservations
std::vector< TdataMap >	antiNoise_window
uint16_t	lastObservations_size
	[KF3 algortihm] The number of observations to keep in m_lastObservations
uint16_t	winNoise_size
	[KF3 algortihm] The number of observations used to reduce noise on signal.
uint16_t	decimate_value
	[KF3 algortihm] The decimate frecuency applied after noise filtering
vector_float	tauD_concentration
	[KF3 algortihm] Measured values of K= 1/tauD for different volatile concentrations
vector_float	tauD_value
vector_float	memory_speed
	[KF3 algortihm] Measured values of the delay (memory effect) for different robot speeds
vector_float	memory_delay
uint16_t	enose_id
	[KF3 algortihm] id for the enose used to generate this map (must be < gasGrid_count)
bool	save_maplog
	[KF3 algortihm] true / 1= Save generated gas map as a log file

Detailed Description

Parameters related with inserting observations into the map:.

Definition at line 164 of file CGasConcentrationGridMap2D.h.

Constructor & Destructor Documentation

mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::TInsertionOptions ( )

Default values loader:.

Member Function Documentation

void mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream ( CStream & out ) const [virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

void mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)			`[virtual]`

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

Member Data Documentation

std::vector<TdataMap> mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::antiNoise_window

Definition at line 224 of file CGasConcentrationGridMap2D.h.

float mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::cutoffRadius

The cutoff radius for updating cells.

Definition at line 186 of file CGasConcentrationGridMap2D.h.

uint16_t mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::decimate_value

[KF3 algortihm] The decimate frecuency applied after noise filtering

Definition at line 236 of file CGasConcentrationGridMap2D.h.

uint16_t mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::enose_id

[KF3 algortihm] id for the enose used to generate this map (must be < gasGrid_count)

Definition at line 250 of file CGasConcentrationGridMap2D.h.

float mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_covSigma

[KF model] The "sigma" for the initial covariance value between cells (in meters).

Definition at line 194 of file CGasConcentrationGridMap2D.h.

float mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_defaultCellMeanValue

[KF model] The default value for the mean of cells' concentration.

Definition at line 206 of file CGasConcentrationGridMap2D.h.

float mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_initialCellStd

[KF model] The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).

Definition at line 198 of file CGasConcentrationGridMap2D.h.

float mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_observationModelNoise

[KF model] The sensor model noise (in normalized concentration units).

Definition at line 202 of file CGasConcentrationGridMap2D.h.

uint16_t mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_sensorType

[KF3 algortihm] The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, .

..)

Definition at line 213 of file CGasConcentrationGridMap2D.h.

uint16_t mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_W_size

[KF2 algorithm] The size of the window of neighbor cells.

Definition at line 209 of file CGasConcentrationGridMap2D.h.

uint16_t mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::lastObservations_size