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TKLDParams.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, 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
15
16namespace mrpt
17{
18 namespace slam
19 {
20 /** Option set for KLD algorithm. \ingroup mrpt_slam_grp
21 */
23 {
24 public:
26
27 void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source,const std::string &section) MRPT_OVERRIDE; // See base docs
28 void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE; // See base docs
29
30 /** 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.
31 */
32 double KLD_binSize_XY, KLD_binSize_PHI,
33 KLD_delta, KLD_epsilon;
34
35 /** 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.
36 */
37 unsigned int KLD_minSampleSize, KLD_maxSampleSize;
38
39 /** (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 */
41
42 };
43
44 } // End of namespace
45} // End of namespace
46
47#endif
Option set for KLD algorithm.
Definition: TKLDParams.h:23
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form,...
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
unsigned int KLD_maxSampleSize
Definition: TKLDParams.h:37
double KLD_minSamplesPerBin
(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleS...
Definition: TKLDParams.h:40
This class allows loading and storing values and vectors of different types from a configuration text...
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:39
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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