The options for the algorithm.
Definition at line 119 of file CRangeBearingKFSLAM2D.h.
#include <mrpt/slam/CRangeBearingKFSLAM2D.h>
Public Member Functions | |
TOptions () | |
Default values. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
Load from a config file/text. | |
void | dumpToTextStream (CStream &out) const |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream. | |
Public Attributes | |
vector_float | stds_Q_no_odo |
A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!) | |
float | std_sensor_range |
float | std_sensor_yaw |
The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians. | |
float | quantiles_3D_representation |
Default = 3. | |
bool | create_simplemap |
Whether to fill m_SFs (default=false) | |
TDataAssociationMethod | data_assoc_method |
TDataAssociationMetric | data_assoc_metric |
double | data_assoc_IC_chi2_thres |
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99) | |
TDataAssociationMetric | data_assoc_IC_metric |
Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood. | |
double | data_assoc_IC_ml_threshold |
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) |
mrpt::slam::CRangeBearingKFSLAM2D::TOptions::TOptions | ( | ) |
Default values.
void mrpt::slam::CRangeBearingKFSLAM2D::TOptions::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Implements mrpt::utils::CLoadableOptions.
void mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) | [virtual] |
Load from a config file/text.
Implements mrpt::utils::CLoadableOptions.
Whether to fill m_SFs (default=false)
Definition at line 139 of file CRangeBearingKFSLAM2D.h.
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)
Definition at line 144 of file CRangeBearingKFSLAM2D.h.
Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.
Definition at line 145 of file CRangeBearingKFSLAM2D.h.
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)
Definition at line 146 of file CRangeBearingKFSLAM2D.h.
Definition at line 142 of file CRangeBearingKFSLAM2D.h.
Definition at line 143 of file CRangeBearingKFSLAM2D.h.
Default = 3.
Definition at line 138 of file CRangeBearingKFSLAM2D.h.
Definition at line 137 of file CRangeBearingKFSLAM2D.h.
The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.
Definition at line 137 of file CRangeBearingKFSLAM2D.h.
A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)
Definition at line 136 of file CRangeBearingKFSLAM2D.h.
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