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mrpt::slam::CBeaconMap::TInsertionOptions Struct Reference


Detailed Description

This struct contains data for choosing the method by which new beacons are inserted in the map.

Definition at line 176 of file CBeaconMap.h.

#include <mrpt/slam/CBeaconMap.h>

Inheritance diagram for mrpt::slam::CBeaconMap::TInsertionOptions:
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List of all members.

Public Member Functions

 TInsertionOptions ()
 Initilization of default parameters.
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions.
void dumpToTextStream (CStream &out) const
 See utils::CLoadableOptions.

Public Attributes

bool insertAsMonteCarlo
 Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::slam::CBeacon).
float maxElevation_deg
 Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.
float minElevation_deg
unsigned int MC_numSamplesPerMeter
 Number of particles per meter of range, i.e.
float MC_maxStdToGauss
 The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).
float MC_thresholdNegligible
 Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).
bool MC_performResampling
 If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.
float MC_afterResamplingNoise
 The std.dev.
float SOG_thresholdNegligible
 Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).
float SOG_maxDistBetweenGaussians
 A parameter for initializing 2D/3D SOGs.
float SOG_separationConstant
 Constant used to compute the std.

Constructor & Destructor Documentation

mrpt::slam::CBeaconMap::TInsertionOptions::TInsertionOptions ( )

Initilization of default parameters.


Member Function Documentation

void mrpt::slam::CBeaconMap::TInsertionOptions::dumpToTextStream ( CStream out) const [virtual]
void mrpt::slam::CBeaconMap::TInsertionOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]

Member Data Documentation

Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::slam::CBeacon).

See also:
MC_performResampling

Definition at line 196 of file CBeaconMap.h.

Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.

Definition at line 200 of file CBeaconMap.h.

The std.dev.

of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true.

Definition at line 220 of file CBeaconMap.h.

The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).

Definition at line 208 of file CBeaconMap.h.

Number of particles per meter of range, i.e.

per meter of the "radius of the ring".

Definition at line 204 of file CBeaconMap.h.

If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.

Definition at line 216 of file CBeaconMap.h.

Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).

Definition at line 212 of file CBeaconMap.h.

Definition at line 200 of file CBeaconMap.h.

A parameter for initializing 2D/3D SOGs.

Definition at line 228 of file CBeaconMap.h.

Constant used to compute the std.

dev. int the tangent direction when creating the Gaussians.

Definition at line 232 of file CBeaconMap.h.

Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).

Definition at line 224 of file CBeaconMap.h.




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