#include <mrpt/slam/CLandmarksMap.h>
Classes | |
struct | TGPSOrigin |
This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. More... | |
Public Member Functions | |
TLikelihoodOptions () | |
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 | |
unsigned int | rangeScan2D_decimation |
The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation). | |
double | SIFTs_sigma_euclidean_dist |
double | SIFTs_sigma_descriptor_dist |
float | SIFTs_mahaDist_std |
float | SIFTnullCorrespondenceDistance |
int | SIFTs_decimation |
Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation. | |
float | beaconRangesStd |
The standard deviation used for Beacon ranges likelihood (default=0.08). | |
float | alphaRatio |
The ratio between gaussian and uniform distribution (default=1). | |
float | beaconMaxRange |
Maximun reliable beacon range value (default=20). | |
struct MRPTDLLIMPEXP mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin | GPSOrigin |
This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. | |
float | GPS_sigma |
A constant "sigma" for GPS localization data (in meters). |
Definition at line 287 of file CLandmarksMap.h.
mrpt::slam::CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
Initilization of default parameters.
void mrpt::slam::CLandmarksMap::TLikelihoodOptions::dumpToTextStream | ( | utils::CStream & | out | ) | [virtual] |
void mrpt::slam::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
The ratio between gaussian and uniform distribution (default=1).
Definition at line 326 of file CLandmarksMap.h.
The standard deviation used for Beacon ranges likelihood (default=0.08).
Definition at line 322 of file CLandmarksMap.h.
A constant "sigma" for GPS localization data (in meters).
Definition at line 370 of file CLandmarksMap.h.
struct MRPTDLLIMPEXP mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin mrpt::slam::CLandmarksMap::TLikelihoodOptions::GPSOrigin |
This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot.
The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation).
Definition at line 306 of file CLandmarksMap.h.
Definition at line 314 of file CLandmarksMap.h.
Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation.
Definition at line 318 of file CLandmarksMap.h.
Definition at line 312 of file CLandmarksMap.h.
Definition at line 310 of file CLandmarksMap.h.
Definition at line 308 of file CLandmarksMap.h.
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