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

#include <mrpt/slam/CGasConcentrationGridMap2D.h>

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

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

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.
uint32_t	KF_sensorType
	[KF3 algortihm] The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...)
std::map < mrpt::system::TTimeStamp, CObservationGasSensors::TObservationENose >	m_lastObservations
	[KF3 algortihm] The last N GasObservations, used for the Kalman Filter with conentration estimation.
uint16_t	lastObservations_size
	[KF3 algortihm] The number of observations to keep in m_lastObservations
float	k
	[KF3 algortihm] Actual and final value to achieve of parameter K= 1/tau
float	k_lim
uint16_t	enose_id
	[KF3 algortihm] id for the enose used to generate this map (must be < gasGrid_count)

Detailed Description

Parameters related with inserting observations into the map:

Definition at line 152 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

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

The cutoff radius for updating cells.

Definition at line 174 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 219 of file CGasConcentrationGridMap2D.h.

float mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::k

[KF3 algortihm] Actual and final value to achieve of parameter K= 1/tau

Definition at line 214 of file CGasConcentrationGridMap2D.h.

float mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::k_lim

Definition at line 215 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 182 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 194 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 186 of file CGasConcentrationGridMap2D.h.

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

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

Definition at line 190 of file CGasConcentrationGridMap2D.h.

uint32_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 201 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 197 of file CGasConcentrationGridMap2D.h.

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

[KF3 algortihm] The number of observations to keep in m_lastObservations