struct mrpt::maps::CPointsMap::TLikelihoodOptions

Options used when evaluating “computeObservationLikelihood” in the derived classes.

See also:

CObservation::computeObservationLikelihood

#include <mrpt/maps/CPointsMap.h>

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

    double sigma_dist {0.0025};
    double max_corr_distance {1.0};
    uint32_t decimation {10};

    // construction

    TLikelihoodOptions();

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) 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

double sigma_dist {0.0025}

Sigma squared (variance, in meters) of the exponential used to model the likelihood (default= 0.5^2 meters)

double max_corr_distance {1.0}

Maximum distance in meters to consider for the numerator divided by “sigma_dist”, so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters)

uint32_t decimation {10}

Speed up the likelihood computation by considering only one out of N rays (default=10)

Construction

TLikelihoodOptions()

Initilization of default parameters.

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,...

virtual void dumpToTextStream(std::ostream& out) const

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

void writeToStream(mrpt::serialization::CArchive& out) const

Binary dump to stream - for usage in derived classes’ serialization.

void readFromStream(mrpt::serialization::CArchive& in)

Binary dump to stream - for usage in derived classes’ serialization.