mrpt::slam::CLandmarksMap::TLikelihoodOptions Struct Reference

With this struct options are provided to the likelihood computations. More...

#include <mrpt/slam/CLandmarksMap.h>

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List of all members.

Classes
struct	TGPSOrigin
	This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. More...
Public Member Functions
	TLikelihoodOptions ()
	Initilization of default parameters.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
Public Attributes
unsigned int	rangeScan2D_decimation
	The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation).
double	SIFTs_sigma_euclidean_dist
double	SIFTs_sigma_descriptor_dist
float	SIFTs_mahaDist_std
float	SIFTnullCorrespondenceDistance
int	SIFTs_decimation
	Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation.
float	beaconRangesStd
	The standard deviation used for Beacon ranges likelihood (default=0.08).
float	alphaRatio
	The ratio between gaussian and uniform distribution (default=1).
float	beaconMaxRange
	Maximun reliable beacon range value (default=20).
struct VISION_IMPEXP mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin	GPSOrigin
	This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot.
float	GPS_sigma
	A constant "sigma" for GPS localization data (in meters).

Detailed Description

With this struct options are provided to the likelihood computations.

Definition at line 303 of file CLandmarksMap.h.

Constructor & Destructor Documentation

mrpt::slam::CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions ( )

Initilization of default parameters.

Member Function Documentation

void mrpt::slam::CLandmarksMap::TLikelihoodOptions::dumpToTextStream ( CStream & out ) const [virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

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

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

Member Data Documentation

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::alphaRatio

The ratio between gaussian and uniform distribution (default=1).

Definition at line 342 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::beaconMaxRange

Maximun reliable beacon range value (default=20).

Definition at line 346 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::beaconRangesStd

The standard deviation used for Beacon ranges likelihood (default=0.08).

Definition at line 338 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::GPS_sigma

A constant "sigma" for GPS localization data (in meters).

Definition at line 386 of file CLandmarksMap.h.

struct VISION_IMPEXP mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin mrpt::slam::CLandmarksMap::TLikelihoodOptions::GPSOrigin

This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot.

unsigned int mrpt::slam::CLandmarksMap::TLikelihoodOptions::rangeScan2D_decimation

The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation).

Definition at line 322 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTnullCorrespondenceDistance

Definition at line 330 of file CLandmarksMap.h.

int mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_decimation

Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation.

Definition at line 334 of file CLandmarksMap.h.

float mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_mahaDist_std

Definition at line 328 of file CLandmarksMap.h.

double mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_descriptor_dist

Definition at line 326 of file CLandmarksMap.h.