struct mrpt::slam::TMonteCarloLocalizationParams

The struct for passing extra simulation parameters to the prediction stage when running a particle filter.

#include <mrpt/slam/TMonteCarloLocalizationParams.h>

struct TMonteCarloLocalizationParams
{
    //
fields

    mrpt::maps::CMetricMap* metricMap {nullptr};
    mrpt::maps::TMetricMapList metricMaps;
    TKLDParams KLD_params;

    // construction

    TMonteCarloLocalizationParams();
    TMonteCarloLocalizationParams(const TMonteCarloLocalizationParams& o);

    //
methods

    TMonteCarloLocalizationParams& operator = (const TMonteCarloLocalizationParams& o);
};

Fields

mrpt::maps::CMetricMap* metricMap {nullptr}

[update stage] Must be set to a metric map used to estimate the likelihood of observations

mrpt::maps::TMetricMapList metricMaps

[update stage] Alternative way (if metricMap==nullptr): A metric map is supplied for each particle: There must be the same maps here as pose m_particles.

TKLDParams KLD_params

Parameters for dynamic sample size, KLD method.

Construction

TMonteCarloLocalizationParams()

Default settings method.

TMonteCarloLocalizationParams(const TMonteCarloLocalizationParams& o)

Copy constructor: take care of knowing what you do, since this copies pointers.

Methods

TMonteCarloLocalizationParams& operator = (const TMonteCarloLocalizationParams& o)

Copy operator: take care of knowing what you do, since this copies pointers.