Detailed Description

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

Definition at line 23 of file TMonteCarloLocalizationParams.h.

#include <mrpt/slam/TMonteCarloLocalizationParams.h>

Public Member Functions
	TMonteCarloLocalizationParams ()
	Default settings method. More...

	TMonteCarloLocalizationParams (const TMonteCarloLocalizationParams &o)
	Copy constructor: take care of knowing what you do, since this copies pointers. More...

TMonteCarloLocalizationParams &	operator= (const TMonteCarloLocalizationParams &o)
	Copy operator: take care of knowing what you do, since this copies pointers. More...

Public Attributes
mrpt::maps::CMetricMap *	metricMap
	[update stage] Must be set to a metric map used to estimate the likelihood of observations More...

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. More...

TKLDParams	KLD_params
	Parameters for dynamic sample size, KLD method. More...

Constructor & Destructor Documentation

◆ TMonteCarloLocalizationParams() [1/2]

TMonteCarloLocalizationParams::TMonteCarloLocalizationParams ( )

Default settings method.

Definition at line 22 of file TMonteCarloLocalizationParams.cpp.

◆ TMonteCarloLocalizationParams() [2/2]

TMonteCarloLocalizationParams::TMonteCarloLocalizationParams ( const TMonteCarloLocalizationParams & o )

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

Definition at line 27 of file TMonteCarloLocalizationParams.cpp.

Member Function Documentation

◆ operator=()

TMonteCarloLocalizationParams & TMonteCarloLocalizationParams::operator= ( const TMonteCarloLocalizationParams & o )

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

Definition at line 35 of file TMonteCarloLocalizationParams.cpp.

References KLD_params, metricMap, and metricMaps.

Member Data Documentation

◆ KLD_params

TKLDParams mrpt::slam::TMonteCarloLocalizationParams::KLD_params

Parameters for dynamic sample size, KLD method.

Definition at line 50 of file TMonteCarloLocalizationParams.h.

Referenced by operator=(), mrpt::slam::CMonteCarloLocalization3D::prediction_and_update(), mrpt::slam::CMonteCarloLocalization2D::prediction_and_update(), and run_test_pf_localization().

◆ metricMap

mrpt::maps::CMetricMap* mrpt::slam::TMonteCarloLocalizationParams::metricMap

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

Definition at line 41 of file TMonteCarloLocalizationParams.h.

Referenced by operator=(), mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMonteCarloLocalization3D::prediction_and_update(), mrpt::slam::CMonteCarloLocalization2D::prediction_and_update(), and run_test_pf_localization().

◆ metricMaps

mrpt::maps::TMetricMapList mrpt::slam::TMonteCarloLocalizationParams::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.

Definition at line 47 of file TMonteCarloLocalizationParams.h.

Referenced by operator=(), mrpt::slam::CMonteCarloLocalization3D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMonteCarloLocalization2D::PF_SLAM_computeObservationLikelihoodForParticle(), mrpt::slam::CMonteCarloLocalization3D::prediction_and_update(), and mrpt::slam::CMonteCarloLocalization2D::prediction_and_update().