mrpt::slam::CMultiMetricMapPDF::TPredictionParams Struct Reference

The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter. More...

#include <mrpt/slam/CMultiMetricMapPDF.h>

Inheritance diagram for mrpt::slam::CMultiMetricMapPDF::TPredictionParams:

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Collaboration diagram for mrpt::slam::CMultiMetricMapPDF::TPredictionParams:

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List of all members.

Public Member Functions
	TPredictionParams ()
	Default settings method.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
Public Attributes
int	pfOptimalProposal_mapSelection
	[pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal") Select the map on which to calculate the optimal proposal distribution.
float	ICPGlobalAlign_MinQuality
	[prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum quality ratio [0,1] of the alignment such as it will be accepted.
COccupancyGridMap2D::TLikelihoodOptions	update_gridMapLikelihoodOptions
	[update stage] If the likelihood is computed through the occupancy grid map, then this structure is passed to the map when updating the particles weights in the update stage.
TKLDParams	KLD_params
CICP::TConfigParams	icp_params
	ICP parameters, used only when "PF_algorithm=2" in the particle filter.

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Detailed Description

The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter.

See also:

prediction_and_update

Definition at line 139 of file CMultiMetricMapPDF.h.

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Constructor & Destructor Documentation

mrpt::slam::CMultiMetricMapPDF::TPredictionParams::TPredictionParams

(

)

Default settings method.

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Member Function Documentation

void mrpt::slam::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream

(

CStream &

out

)

const [virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

void mrpt::slam::CMultiMetricMapPDF::TPredictionParams::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

CICP::TConfigParams mrpt::slam::CMultiMetricMapPDF::TPredictionParams::icp_params

ICP parameters, used only when "PF_algorithm=2" in the particle filter.

Definition at line 177 of file CMultiMetricMapPDF.h.

float mrpt::slam::CMultiMetricMapPDF::TPredictionParams::ICPGlobalAlign_MinQuality

[prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum quality ratio [0,1] of the alignment such as it will be accepted.

Otherwise, raw odometry is used for those bad cases (default=0.7).

Definition at line 169 of file CMultiMetricMapPDF.h.

TKLDParams mrpt::slam::CMultiMetricMapPDF::TPredictionParams::KLD_params

Definition at line 175 of file CMultiMetricMapPDF.h.

int mrpt::slam::CMultiMetricMapPDF::TPredictionParams::pfOptimalProposal_mapSelection

[pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal") Select the map on which to calculate the optimal proposal distribution.

Values: 0: Gridmap -> Uses Scan matching-based approximation (based on Stachniss' work) 1: Landmarks -> Uses matching to approximate optimal 2: Beacons -> Used for exact optimal proposal in RO-SLAM 3: Pointsmap -> Uses Scan matching-based approximation with a map of points (based on Stachniss' work) Default = 0

Definition at line 164 of file CMultiMetricMapPDF.h.

COccupancyGridMap2D::TLikelihoodOptions mrpt::slam::CMultiMetricMapPDF::TPredictionParams::update_gridMapLikelihoodOptions

[update stage] If the likelihood is computed through the occupancy grid map, then this structure is passed to the map when updating the particles weights in the update stage.

Definition at line 173 of file CMultiMetricMapPDF.h.