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


Detailed Description

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

See also:
CObservation::computeObservationLikelihood

Definition at line 157 of file CPointsMap.h.

#include <mrpt/slam/CPointsMap.h>

Inheritance diagram for mrpt::slam::CPointsMap::TLikelihoodOptions:
Inheritance graph
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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).

Constructor & Destructor Documentation

mrpt::slam::CPointsMap::TLikelihoodOptions::TLikelihoodOptions (  ) 

Initilization of default parameters.

virtual mrpt::slam::CPointsMap::TLikelihoodOptions::~TLikelihoodOptions (  )  [inline, virtual]

Definition at line 162 of file CPointsMap.h.


Member Function Documentation

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


Member Data Documentation

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

Definition at line 177 of file CPointsMap.h.

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 176 of file CPointsMap.h.

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

Definition at line 175 of file CPointsMap.h.




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