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mrpt::bayes::TKF_options Struct Reference


Detailed Description

Generic options for the Kalman Filter algorithm in itself.

Definition at line 77 of file CKalmanFilterCapable.h.

#include <mrpt/bayes/CKalmanFilterCapable.h>

Inheritance diagram for mrpt::bayes::TKF_options:
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List of all members.

Public Member Functions

 TKF_options ()
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method load the options from a ".ini"-like file or memory-stored string list.
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

TKFMethod method
 The method to employ (default: kfEKFNaive)
bool verbose
 If set to true timing and other information will be dumped during the execution (default=false)
int IKF_iterations
 Number of refinement iterations, only for the IKF method.
bool enable_profiler
 If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution.
bool use_analytic_transition_jacobian
 (default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel.
bool use_analytic_observation_jacobian
 (default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel.
bool debug_verify_analytic_jacobians
 (default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch.
double debug_verify_analytic_jacobians_threshold
 (default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians

Constructor & Destructor Documentation

mrpt::bayes::TKF_options::TKF_options ( )

Member Function Documentation

void mrpt::bayes::TKF_options::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::bayes::TKF_options::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]

This method load the options from a ".ini"-like file or memory-stored string list.

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

  [section]
        resolution=0.10         ; blah blah...
        modeSelection=1         ; 0=blah, 1=blah,...
See also:
loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.


Member Data Documentation

(default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch.

Definition at line 94 of file CKalmanFilterCapable.h.

(default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians

Definition at line 95 of file CKalmanFilterCapable.h.

If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution.

Definition at line 91 of file CKalmanFilterCapable.h.

Number of refinement iterations, only for the IKF method.

Definition at line 90 of file CKalmanFilterCapable.h.

The method to employ (default: kfEKFNaive)

Definition at line 88 of file CKalmanFilterCapable.h.

(default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel.

Definition at line 93 of file CKalmanFilterCapable.h.

(default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel.

Definition at line 92 of file CKalmanFilterCapable.h.

If set to true timing and other information will be dumped during the execution (default=false)

Definition at line 89 of file CKalmanFilterCapable.h.




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