With this struct options are provided to the likelihood computations.
Definition at line 296 of file CLandmarksMap.h.
#include <mrpt/slam/CLandmarksMap.h>
Classes | |
struct | TGPSOrigin |
This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. More... | |
Public Member Functions | |
TLikelihoodOptions () | |
Initilization of default parameters. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. | |
void | dumpToTextStream (CStream &out) const |
See utils::CLoadableOptions. | |
Public Attributes | |
unsigned int | rangeScan2D_decimation |
The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation) | |
double | SIFTs_sigma_euclidean_dist |
double | SIFTs_sigma_descriptor_dist |
float | SIFTs_mahaDist_std |
float | SIFTnullCorrespondenceDistance |
int | SIFTs_decimation |
Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation. | |
float | beaconRangesStd |
The standard deviation used for Beacon ranges likelihood (default=0.08). | |
float | alphaRatio |
The ratio between gaussian and uniform distribution (default=1). | |
float | beaconMaxRange |
Maximun reliable beacon range value (default=20) | |
struct VISION_IMPEXP mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin | GPSOrigin |
float | GPS_sigma |
A constant "sigma" for GPS localization data (in meters) |
mrpt::slam::CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
Initilization of default parameters.
void mrpt::slam::CLandmarksMap::TLikelihoodOptions::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
Implements mrpt::utils::CLoadableOptions.
void mrpt::slam::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) | [virtual] |
Implements mrpt::utils::CLoadableOptions.
The ratio between gaussian and uniform distribution (default=1).
Definition at line 335 of file CLandmarksMap.h.
Maximun reliable beacon range value (default=20)
Definition at line 339 of file CLandmarksMap.h.
The standard deviation used for Beacon ranges likelihood (default=0.08).
Definition at line 331 of file CLandmarksMap.h.
A constant "sigma" for GPS localization data (in meters)
Definition at line 379 of file CLandmarksMap.h.
struct VISION_IMPEXP mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin mrpt::slam::CLandmarksMap::TLikelihoodOptions::GPSOrigin |
The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation)
Definition at line 315 of file CLandmarksMap.h.
Definition at line 323 of file CLandmarksMap.h.
Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation.
Definition at line 327 of file CLandmarksMap.h.
Definition at line 321 of file CLandmarksMap.h.
Definition at line 319 of file CLandmarksMap.h.
Definition at line 317 of file CLandmarksMap.h.
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