TKLDParams.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef TKLDParams_H
#define TKLDParams_H

#include <mrpt/utils/CLoadableOptions.h>

namespace mrpt
{
namespace slam
{
/** Option set for KLD algorithm.  \ingroup mrpt_slam_grp
  */
class TKLDParams : public utils::CLoadableOptions
{
   public:
        TKLDParams();

        void loadFromConfigFile(
                const mrpt::utils::CConfigFileBase& source,
                const std::string& section) override;  // See base docs
        void dumpToTextStream(
                mrpt::utils::CStream& out) const override;  // See base docs

        /** 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_XY, KLD_binSize_PHI, KLD_delta, KLD_epsilon;

        /** 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_minSampleSize, KLD_maxSampleSize;

        /** (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 */
        double KLD_minSamplesPerBin;
};

}  // End of namespace
}  // End of namespace

#endif