Options used when evaluating "computeObservationLikelihood" in the derived classes.
Definition at line 191 of file maps/CPointsMap.h.
#include <mrpt/maps/CPointsMap.h>
Public Member Functions | |
TLikelihoodOptions () | |
Initilization of default parameters. More... | |
virtual | ~TLikelihoodOptions () |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const |
See utils::CLoadableOptions. More... | |
void | writeToStream (mrpt::utils::CStream &out) const |
Binary dump to stream - for usage in derived classes' serialization. More... | |
void | readFromStream (mrpt::utils::CStream &in) |
Binary dump to stream - for usage in derived classes' serialization. More... | |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More... | |
virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string §ion) const |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
void | saveToConfigFileName (const std::string &config_file, const std::string §ion) const |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More... | |
void | dumpToConsole () const |
Just like dumpToTextStream() but sending the text to the console (std::cout) More... | |
Public Attributes | |
double | sigma_dist |
Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters) More... | |
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) More... | |
uint32_t | decimation |
Speed up the likelihood computation by considering only one out of N rays (default=10) More... | |
Static Protected Member Functions | |
static void | dumpVar_int (CStream &out, const char *varName, int v) |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More... | |
static void | dumpVar_float (CStream &out, const char *varName, float v) |
static void | dumpVar_double (CStream &out, const char *varName, double v) |
static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
mrpt::maps::CPointsMap::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
Initilization of default parameters.
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Definition at line 196 of file maps/CPointsMap.h.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
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virtual |
Reimplemented from mrpt::utils::CLoadableOptions.
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
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staticprotectedinherited |
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virtual |
Implements mrpt::utils::CLoadableOptions.
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inherited |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
void mrpt::maps::CPointsMap::TLikelihoodOptions::readFromStream | ( | mrpt::utils::CStream & | in | ) |
Binary dump to stream - for usage in derived classes' serialization.
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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.
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inherited |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
void mrpt::maps::CPointsMap::TLikelihoodOptions::writeToStream | ( | mrpt::utils::CStream & | out | ) | const |
Binary dump to stream - for usage in derived classes' serialization.
uint32_t mrpt::maps::CPointsMap::TLikelihoodOptions::decimation |
Speed up the likelihood computation by considering only one out of N rays (default=10)
Definition at line 211 of file maps/CPointsMap.h.
double mrpt::maps::CPointsMap::TLikelihoodOptions::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)
Definition at line 210 of file maps/CPointsMap.h.
double mrpt::maps::CPointsMap::TLikelihoodOptions::sigma_dist |
Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters)
Definition at line 209 of file maps/CPointsMap.h.
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