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Public Member Functions | Public Attributes

mrpt::slam::TKLDParams Class Reference


Detailed Description

Option set for KLD algorithm.

Definition at line 43 of file TKLDParams.h.

#include <mrpt/slam/TKLDParams.h>

Inheritance diagram for mrpt::slam::TKLDParams:
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List of all members.

Public Member Functions

 TKLDParams ()
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions.
void dumpToTextStream (CStream &out) const
 See utils::CLoadableOptions.

Public Attributes

double KLD_binSize_XY
 Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
double KLD_binSize_PHI
double KLD_delta
double KLD_epsilon
unsigned int KLD_minSampleSize
 Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
unsigned int KLD_maxSampleSize
double KLD_minSamplesPerBin
 (Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * #ofBinsOccupied in the last time step

Constructor & Destructor Documentation

mrpt::slam::TKLDParams::TKLDParams ( )

Member Function Documentation

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

Member Data Documentation

Definition at line 61 of file TKLDParams.h.

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.

Definition at line 61 of file TKLDParams.h.

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.

Definition at line 66 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), and mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfStandardProposal().

(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * #ofBinsOccupied in the last time step

Definition at line 69 of file TKLDParams.h.

Referenced by mrpt::slam::PF_implementation< PARTICLE_TYPE, MYSELF >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal().




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