mrpt::slam::CPointsMap::TLikelihoodOptions Struct Reference

Options used when evaluating "computeObservationLikelihood" in the derived classes. More...

#include <mrpt/slam/CPointsMap.h>

Inheritance diagram for mrpt::slam::CPointsMap::TLikelihoodOptions:

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Collaboration diagram for mrpt::slam::CPointsMap::TLikelihoodOptions:

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List of all members.

Public Member Functions
	TLikelihoodOptions ()
	Initilization of default parameters.
virtual	~TLikelihoodOptions ()
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
void	writeToStream (CStream &out) const
	Binary dump to stream - for usage in derived classes' serialization.
void	readFromStream (CStream &in)
	Binary dump to stream - for usage in derived classes' serialization.
Public Attributes
double	sigma_dist
	Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters).
double	max_corr_distance
	Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters).
uint32_t	decimation
	Speed up the likelihood computation by considering only one out of N rays (default=10).

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Detailed Description

Options used when evaluating "computeObservationLikelihood" in the derived classes.

See also:

CObservation::computeObservationLikelihood

Definition at line 464 of file CPointsMap.h.

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Constructor & Destructor Documentation

mrpt::slam::CPointsMap::TLikelihoodOptions::TLikelihoodOptions

(

)

Initilization of default parameters.

virtual mrpt::slam::CPointsMap::TLikelihoodOptions::~TLikelihoodOptions

(

)

[inline, virtual]

Definition at line 469 of file CPointsMap.h.

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Member Function Documentation

void mrpt::slam::CPointsMap::TLikelihoodOptions::dumpToTextStream

(

CStream &

out

)

const [virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

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

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

void mrpt::slam::CPointsMap::TLikelihoodOptions::readFromStream

(

CStream &

in

)

Binary dump to stream - for usage in derived classes' serialization.

void mrpt::slam::CPointsMap::TLikelihoodOptions::writeToStream

(

CStream &

out

)

const

Binary dump to stream - for usage in derived classes' serialization.

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Member Data Documentation

uint32_t mrpt::slam::CPointsMap::TLikelihoodOptions::decimation

Speed up the likelihood computation by considering only one out of N rays (default=10).

Definition at line 484 of file CPointsMap.h.

double mrpt::slam::CPointsMap::TLikelihoodOptions::max_corr_distance

Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters).

Definition at line 483 of file CPointsMap.h.

double mrpt::slam::CPointsMap::TLikelihoodOptions::sigma_dist

Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters).

Definition at line 482 of file CPointsMap.h.