Main MRPT website > C++ reference for MRPT 1.3.2
TKLDParams.h
Go to the documentation of this file.
1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef TKLDParams_H
10 #define TKLDParams_H
11 
13 
14 #include <mrpt/slam/link_pragmas.h>
15 
16 namespace mrpt
17 {
18  namespace slam
19  {
20  /** Option set for KLD algorithm. \ingroup mrpt_slam_grp
21  */
23  {
24  public:
25  TKLDParams();
26 
27  /** See utils::CLoadableOptions
28  */
29  void loadFromConfigFile(
30  const mrpt::utils::CConfigFileBase &source,
31  const std::string &section);
32 
33  /** See utils::CLoadableOptions
34  */
35  void dumpToTextStream(mrpt::utils::CStream &out) const;
36 
37 
38  /** Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
39  */
40  double KLD_binSize_XY, KLD_binSize_PHI,
41  KLD_delta, KLD_epsilon;
42 
43  /** Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
44  */
45  unsigned int KLD_minSampleSize, KLD_maxSampleSize;
46 
47  /** (Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * #ofBinsOccupied in the last time step */
49 
50  };
51 
52  } // End of namespace
53 } // End of namespace
54 
55 #endif
Option set for KLD algorithm.
Definition: TKLDParams.h:22
This class allows loading and storing values and vectors of different types from a configuration text...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
unsigned int KLD_minSampleSize
Parameters for the KLD adaptive sample size algorithm (see Dieter Fox&#39;s papers), which is used only i...
Definition: TKLDParams.h:45
double KLD_minSamplesPerBin
(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleS...
Definition: TKLDParams.h:48
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...



Page generated by Doxygen 1.8.12 for MRPT 1.3.2 SVN: at Thu Nov 10 13:22:34 UTC 2016