The options for the algorithm.
Definition at line 164 of file CRangeBearingKFSLAM.h.
#include <mrpt/slam/CRangeBearingKFSLAM.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 7-length vector with the std. | |
float | std_sensor_range |
The std. | |
float | std_sensor_yaw |
float | std_sensor_pitch |
float | std_odo_z_additional |
Additional std. | |
bool | doPartitioningExperiment |
If set to true (default=false), map will be partitioned using the method stated by partitioningMethod. | |
float | quantiles_3D_representation |
Default = 3. | |
int | partitioningMethod |
Applicable only if "doPartitioningExperiment=true". | |
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) | |
bool | create_simplemap |
Whether to fill m_SFs (default=false) | |
bool | force_ignore_odometry |
Whether to ignore the input odometry and behave as if there was no odometry at all (default: false) |
mrpt::slam::CRangeBearingKFSLAM::TOptions::TOptions | ( | ) |
Default values.
void mrpt::slam::CRangeBearingKFSLAM::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::CRangeBearingKFSLAM::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 213 of file CRangeBearingKFSLAM.h.
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)
Definition at line 209 of file CRangeBearingKFSLAM.h.
Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.
Definition at line 210 of file CRangeBearingKFSLAM.h.
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)
Definition at line 211 of file CRangeBearingKFSLAM.h.
Definition at line 207 of file CRangeBearingKFSLAM.h.
Definition at line 208 of file CRangeBearingKFSLAM.h.
If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.
Definition at line 194 of file CRangeBearingKFSLAM.h.
Whether to ignore the input odometry and behave as if there was no odometry at all (default: false)
Definition at line 215 of file CRangeBearingKFSLAM.h.
Applicable only if "doPartitioningExperiment=true".
0: Automatically detect partition through graph-cut. N>=1: Cut every "N" observations.
Definition at line 204 of file CRangeBearingKFSLAM.h.
Default = 3.
Definition at line 198 of file CRangeBearingKFSLAM.h.
Additional std.
dev. to sum to the motion model in the z axis (useful when there is only 2D odometry and we want to put things hard to the algorithm) (default=0)
Definition at line 190 of file CRangeBearingKFSLAM.h.
Definition at line 186 of file CRangeBearingKFSLAM.h.
The std.
deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.
Definition at line 186 of file CRangeBearingKFSLAM.h.
Definition at line 186 of file CRangeBearingKFSLAM.h.
A 7-length vector with the std.
deviation of the transition model in (x,y,z, qr,qx,qy,qz) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y z: In meters.
Definition at line 182 of file CRangeBearingKFSLAM.h.
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