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TMonteCarloLocalizationParams.h

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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef TMonteCarloLocalizationParams_H
00029 #define TMonteCarloLocalizationParams_H
00030 
00031 #include <mrpt/slam/CMetricMap.h>
00032 #include <mrpt/slam/TKLDParams.h>
00033 
00034 #include <mrpt/slam/link_pragmas.h>
00035 
00036 namespace mrpt
00037 {
00038         namespace slam
00039         {
00040                 /** The struct for passing extra simulation parameters to the prediction stage
00041                         *    when running a particle filter.
00042                         * \sa prediction
00043                         */
00044                 struct SLAM_IMPEXP TMonteCarloLocalizationParams
00045                 {
00046                         /** Default settings method.
00047                                 */
00048                         TMonteCarloLocalizationParams();
00049 
00050                         /** Copy constructor: take care of knowing what you do, since this copies pointers. */
00051                         TMonteCarloLocalizationParams( const TMonteCarloLocalizationParams &o );
00052 
00053                         /** Copy operator: take care of knowing what you do, since this copies pointers. */
00054                         TMonteCarloLocalizationParams & operator =(const TMonteCarloLocalizationParams &o);
00055 
00056                         /** [update stage] Must be set to a metric map used to estimate the likelihood of observations
00057                                 */
00058                         CMetricMap                      *metricMap;
00059 
00060                         /** [update stage] Alternative way (if metricMap==NULL): A metric map is supplied for each particle: There must be the same maps here as pose m_particles.
00061                                 */
00062                         TMetricMapList          metricMaps;
00063 
00064                         TKLDParams                      KLD_params; //!< Parameters for dynamic sample size, KLD method.
00065                 };
00066 
00067         } // End of namespace
00068 } // End of namespace
00069 
00070 #endif



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