mrpt::slam::CRangeBearingKFSLAM::TOptions Struct Reference

The options for the algorithm. More...

#include <mrpt/slam/CRangeBearingKFSLAM.h>

Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM::TOptions:

Collaboration diagram for mrpt::slam::CRangeBearingKFSLAM::TOptions:

List of all members.

Public Member Functions
	TOptions ()
	Default values.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	Load from a config file/text.
void	dumpToTextStream (CStream &out) const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Public Attributes
vector_float	stds_Q_no_odo
	A 6-length vector with the std.
float	std_sensor_range
	The std.
float	std_sensor_yaw
float	std_sensor_pitch
float	std_odo_z_additional
	Additional std.
bool	doPartitioningExperiment
	If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.
float	quantiles_3D_representation
	Default = 3.
int	partitioningMethod
	Applicable only if "doPartitioningExperiment=true".
TDataAssociationMethod	data_assoc_method
TDataAssociationMetric	data_assoc_metric
double	data_assoc_IC_chi2_thres
	Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99).
TDataAssociationMetric	data_assoc_IC_metric
	Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.
double	data_assoc_IC_ml_threshold
	Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0).
bool	create_simplemap
	Whether to fill m_SFs (default=false).

---

Detailed Description

The options for the algorithm.

Definition at line 105 of file CRangeBearingKFSLAM.h.

---

Constructor & Destructor Documentation

mrpt::slam::CRangeBearingKFSLAM::TOptions::TOptions

(

)

Default values.

---

Member Function Documentation

void mrpt::slam::CRangeBearingKFSLAM::TOptions::dumpToTextStream

(

CStream &

out

)

const [virtual]

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Implements mrpt::utils::CLoadableOptions.

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

Load from a config file/text.

Implements mrpt::utils::CLoadableOptions.

---

Member Data Documentation

bool mrpt::slam::CRangeBearingKFSLAM::TOptions::create_simplemap

Whether to fill m_SFs (default=false).

Definition at line 154 of file CRangeBearingKFSLAM.h.

double mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_chi2_thres

Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99).

Definition at line 150 of file CRangeBearingKFSLAM.h.

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_metric

Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.

Definition at line 151 of file CRangeBearingKFSLAM.h.

double mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_ml_threshold

Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0).

Definition at line 152 of file CRangeBearingKFSLAM.h.

TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_method

Definition at line 148 of file CRangeBearingKFSLAM.h.

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_metric

Definition at line 149 of file CRangeBearingKFSLAM.h.

bool mrpt::slam::CRangeBearingKFSLAM::TOptions::doPartitioningExperiment

If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.

Definition at line 135 of file CRangeBearingKFSLAM.h.

int mrpt::slam::CRangeBearingKFSLAM::TOptions::partitioningMethod

Applicable only if "doPartitioningExperiment=true".

0: Automatically detect partition through graph-cut. N>=1: Cut every "N" observations.

Definition at line 145 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::TOptions::quantiles_3D_representation

Default = 3.

Definition at line 139 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_odo_z_additional

Additional std.

dev. to sum to the motion model in the z axis (useful when there is only 2D odometry and we want to put things hard to the algorithm) (default=0)

Definition at line 131 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_pitch

Definition at line 127 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_range

The std.

deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.

Definition at line 127 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_yaw

Definition at line 127 of file CRangeBearingKFSLAM.h.

vector_float mrpt::slam::CRangeBearingKFSLAM::TOptions::stds_Q_no_odo

A 6-length vector with the std.

deviation of the transition model in (x,y,z,yaw,pitch,roll) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y z: In meters, yaw pitch roll: radians (but in degrees when loading from a configuration ini-file!)

Definition at line 123 of file CRangeBearingKFSLAM.h.