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TKLDParams.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 TKLDParams_H
00029 #define TKLDParams_H
00030 
00031 #include <mrpt/utils/CLoadableOptions.h>
00032 
00033 #include <mrpt/slam/link_pragmas.h>
00034 
00035 namespace mrpt
00036 {
00037         namespace slam
00038         {
00039                 using namespace mrpt::utils;
00040 
00041                 /** Option set for KLD algorithm.
00042                   */
00043                 class SLAM_IMPEXP TKLDParams : public utils::CLoadableOptions
00044                 {
00045                 public:
00046                         TKLDParams();
00047 
00048                         /** See utils::CLoadableOptions
00049                           */
00050                         void  loadFromConfigFile(
00051                                 const mrpt::utils::CConfigFileBase  &source,
00052                                 const std::string &section);
00053 
00054                         /** See utils::CLoadableOptions
00055                           */
00056                         void  dumpToTextStream(CStream  &out) const;
00057 
00058 
00059                         /** 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.
00060                           */
00061                         double  KLD_binSize_XY, KLD_binSize_PHI,
00062                                         KLD_delta, KLD_epsilon;
00063 
00064                         /** 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.
00065                           */
00066                         unsigned int    KLD_minSampleSize, KLD_maxSampleSize;
00067 
00068                         /** (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 */
00069                         double  KLD_minSamplesPerBin; 
00070 
00071                 };
00072 
00073         } // End of namespace
00074 } // End of namespace
00075 
00076 #endif



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