The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter.
Definition at line 140 of file CMultiMetricMapPDF.h.
#include <mrpt/slam/CMultiMetricMapPDF.h>
Public Member Functions | |
TPredictionParams () | |
Default settings method. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
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. |
mrpt::slam::CMultiMetricMapPDF::TPredictionParams::TPredictionParams | ( | ) |
Default settings method.
void mrpt::slam::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
Implements mrpt::utils::CLoadableOptions.
void mrpt::slam::CMultiMetricMapPDF::TPredictionParams::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
Implements mrpt::utils::CLoadableOptions.
ICP parameters, used only when "PF_algorithm=2" in the particle filter.
Definition at line 178 of file CMultiMetricMapPDF.h.
[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 170 of file CMultiMetricMapPDF.h.
Definition at line 176 of file CMultiMetricMapPDF.h.
[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 165 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 174 of file CMultiMetricMapPDF.h.
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