#include <mrpt/slam/CBeaconMap.h>
Public Member Functions | |
TInsertionOptions () | |
Initilization of default parameters. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. | |
void | dumpToTextStream (utils::CStream &out) |
See utils::CLoadableOptions. | |
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::slam::CBeacon). | |
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. | |
float | minElevation_deg |
unsigned int | MC_numSamplesPerMeter |
Number of particles per meter of range, i.e. | |
float | MC_maxStdToGauss |
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4). | |
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). | |
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. | |
float | MC_afterResamplingNoise |
The std.dev. | |
float | SOG_thresholdNegligible |
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20). | |
float | SOG_maxDistBetweenGaussians |
A parameter for initializing 2D/3D SOGs. | |
float | SOG_separationConstant |
Constant used to compute the std. |
Definition at line 131 of file CBeaconMap.h.
mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
void mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::dumpToTextStream | ( | utils::CStream & | out | ) | [virtual] |
void mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
bool mrpt::slam::CBeaconMap::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::slam::CBeacon).
Definition at line 151 of file CBeaconMap.h.
float mrpt::slam::CBeaconMap::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 155 of file CBeaconMap.h.
float mrpt::slam::CBeaconMap::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 175 of file CBeaconMap.h.
float mrpt::slam::CBeaconMap::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 163 of file CBeaconMap.h.
unsigned int mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::MC_numSamplesPerMeter |
Number of particles per meter of range, i.e.
per meter of the "radius of the ring".
Definition at line 159 of file CBeaconMap.h.
bool mrpt::slam::CBeaconMap::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 171 of file CBeaconMap.h.
float mrpt::slam::CBeaconMap::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 167 of file CBeaconMap.h.
float mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::minElevation_deg |
Definition at line 155 of file CBeaconMap.h.
float mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians |
float mrpt::slam::CBeaconMap::CBeaconMap::TInsertionOptions::SOG_separationConstant |
Constant used to compute the std.
dev. int the tangent direction when creating the Gaussians.
Definition at line 187 of file CBeaconMap.h.
float mrpt::slam::CBeaconMap::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 179 of file CBeaconMap.h.
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