struct mrpt::maps::TVoxelMap_LikelihoodOptions

Options used when evaluating “computeObservationLikelihood”.

See also:

CObservation::computeObservationLikelihood

#include <mrpt/maps/CVoxelMapOccupancyBase.h>

struct TVoxelMap_LikelihoodOptions: public mrpt::config::CLoadableOptions
{
    //
fields

    uint32_t decimation = 1;
    double occupiedThreshold = 0.60;

    // construction

    TVoxelMap_LikelihoodOptions();

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void writeToStream(mrpt::serialization::CArchive& out) const;
    void readFromStream(mrpt::serialization::CArchive& in);
};

Inherited Members

public:
    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields

uint32_t decimation = 1

Speed up the likelihood computation by considering only one out of N rays (default=1)

double occupiedThreshold = 0.60

Minimum occupancy (0,1) for a voxel to be considered occupied.

Methods

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

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

virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const

This method saves the options to a “.ini”-like file or memory-stored string list.

See also:

loadFromConfigFile, saveToConfigFileName