This struct contains data for choosing the method by which new beacons are inserted in the map.
Definition at line 135 of file maps/CBeaconMap.h.
#include <mrpt/maps/CBeaconMap.h>
Public Member Functions | |
TInsertionOptions () | |
Initilization of default parameters. More... | |
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 | 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 | |
bool | insertAsMonteCarlo |
Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon). More... | |
float | maxElevation_deg |
Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90. More... | |
float | minElevation_deg |
unsigned int | MC_numSamplesPerMeter |
Number of particles per meter of range, i.e. More... | |
float | MC_maxStdToGauss |
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4). More... | |
float | MC_thresholdNegligible |
Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5). More... | |
bool | MC_performResampling |
If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion. More... | |
float | MC_afterResamplingNoise |
The std.dev. More... | |
float | SOG_thresholdNegligible |
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20). More... | |
float | SOG_maxDistBetweenGaussians |
A parameter for initializing 2D/3D SOGs. More... | |
float | SOG_separationConstant |
Constant used to compute the std. 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::CBeaconMap::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
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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.
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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.
bool mrpt::maps::CBeaconMap::TInsertionOptions::insertAsMonteCarlo |
Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon).
Definition at line 155 of file maps/CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::maxElevation_deg |
Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.
Definition at line 159 of file maps/CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::MC_afterResamplingNoise |
The std.dev.
of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true.
Definition at line 179 of file maps/CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::MC_maxStdToGauss |
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).
Definition at line 167 of file maps/CBeaconMap.h.
unsigned int mrpt::maps::CBeaconMap::TInsertionOptions::MC_numSamplesPerMeter |
Number of particles per meter of range, i.e.
per meter of the "radius of the ring".
Definition at line 163 of file maps/CBeaconMap.h.
bool mrpt::maps::CBeaconMap::TInsertionOptions::MC_performResampling |
If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.
Definition at line 175 of file maps/CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::MC_thresholdNegligible |
Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).
Definition at line 171 of file maps/CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::minElevation_deg |
Definition at line 159 of file maps/CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians |
A parameter for initializing 2D/3D SOGs.
Definition at line 187 of file maps/CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_separationConstant |
Constant used to compute the std.
dev. int the tangent direction when creating the Gaussians.
Definition at line 191 of file maps/CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_thresholdNegligible |
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).
Definition at line 183 of file maps/CBeaconMap.h.
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