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Public Member Functions

mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions Struct Reference


Detailed Description

Parameters related with inserting observations into the map:

Definition at line 172 of file CGasConcentrationGridMap2D.h.

#include <mrpt/slam/CGasConcentrationGridMap2D.h>

Inheritance diagram for mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions:
Inheritance graph
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List of all members.

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

For all mapping methods

uint16_t sensorType
 The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...).
Kernel methods (mrKernelDM, mrKernelDMV)

float sigma
 The sigma of the "Parzen"-kernel Gaussian.
float cutoffRadius
 The cutoff radius for updating cells.
float R_min
float R_max
 Limits for normalization of sensor readings.
double dm_sigma_omega
 [DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CGasConcentrationGridMap2D) */
Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate)

float KF_covSigma
 The "sigma" for the initial covariance value between cells (in meters).
float KF_initialCellStd
 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
 The sensor model noise (in normalized concentration units).
float KF_defaultCellMeanValue
 The default value for the mean of cells' concentration.
uint16_t KF_W_size
 [mrKalmanApproximate] The size of the window of neighbor cells.
Parameters of the "MOS model"

bool useMOSmodel
 If true use MOS model before map algorithm.
float tauR
 Tau values for the rise sensor's phases.
float tauD
 Tau values for the decay (tauD) sensor's phases.
uint16_t lastObservations_size
 The number of observations to keep in m_lastObservations.
size_t winNoise_size
 The number of observations used to reduce noise on signal.
uint16_t decimate_value
 The decimate frecuency applied after noise filtering.
vector_float calibrated_tauD_voltages
 Measured values of K= 1/tauD for different volatile concentrations.
vector_float calibrated_tauD_values
vector_float calibrated_delay_RobotSpeeds
 Measured values of the delay (memory effect) for different robot speeds.
vector_float calibrated_delay_values
uint16_t enose_id
 id for the enose used to generate this map (must be < gasGrid_count)
bool save_maplog
 If true save generated gas map as a log file.

Constructor & Destructor Documentation

mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::TInsertionOptions (  ) 

Default values loader.


Member Function Documentation

void mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream ( CStream out  )  const [virtual]
void mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]

Member Data Documentation

Measured values of the delay (memory effect) for different robot speeds.

Definition at line 219 of file CGasConcentrationGridMap2D.h.

Definition at line 220 of file CGasConcentrationGridMap2D.h.

Definition at line 217 of file CGasConcentrationGridMap2D.h.

Measured values of K= 1/tauD for different volatile concentrations.

Definition at line 216 of file CGasConcentrationGridMap2D.h.

The cutoff radius for updating cells.

Definition at line 191 of file CGasConcentrationGridMap2D.h.

The decimate frecuency applied after noise filtering.

Definition at line 214 of file CGasConcentrationGridMap2D.h.

[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CGasConcentrationGridMap2D) */

Definition at line 193 of file CGasConcentrationGridMap2D.h.

id for the enose used to generate this map (must be < gasGrid_count)

Definition at line 222 of file CGasConcentrationGridMap2D.h.

The "sigma" for the initial covariance value between cells (in meters).

Definition at line 198 of file CGasConcentrationGridMap2D.h.

The default value for the mean of cells' concentration.

Definition at line 201 of file CGasConcentrationGridMap2D.h.

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 199 of file CGasConcentrationGridMap2D.h.

The sensor model noise (in normalized concentration units).

Definition at line 200 of file CGasConcentrationGridMap2D.h.

[mrKalmanApproximate] The size of the window of neighbor cells.

Definition at line 202 of file CGasConcentrationGridMap2D.h.

The number of observations to keep in m_lastObservations.

Definition at line 212 of file CGasConcentrationGridMap2D.h.

Limits for normalization of sensor readings.

Definition at line 192 of file CGasConcentrationGridMap2D.h.

Definition at line 192 of file CGasConcentrationGridMap2D.h.

If true save generated gas map as a log file.

Definition at line 223 of file CGasConcentrationGridMap2D.h.

The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...).

Definition at line 185 of file CGasConcentrationGridMap2D.h.

The sigma of the "Parzen"-kernel Gaussian.

Definition at line 190 of file CGasConcentrationGridMap2D.h.

Tau values for the decay (tauD) sensor's phases.

Definition at line 210 of file CGasConcentrationGridMap2D.h.

Tau values for the rise sensor's phases.

Definition at line 209 of file CGasConcentrationGridMap2D.h.

If true use MOS model before map algorithm.

Definition at line 207 of file CGasConcentrationGridMap2D.h.

The number of observations used to reduce noise on signal.

Definition at line 213 of file CGasConcentrationGridMap2D.h.




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