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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