MRPT  1.9.9
TKLDParams.h
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 #pragma once
10 
12 
13 namespace mrpt::slam
14 {
15 /** Option set for KLD algorithm. \ingroup mrpt_slam_grp
16  */
18 {
19  public:
20  TKLDParams();
21 
22  void loadFromConfigFile(
24  const std::string& section) override; // See base docs
25  void dumpToTextStream(std::ostream& out) const override; // See base docs
26 
27  /** Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's
28  * papers), which is used only if the CParticleFilter is created with the
29  * "adaptiveSampleSize" flag set to true.
30  */
31  double KLD_binSize_XY{0.2f}, KLD_binSize_PHI, KLD_delta{0.01f},
32  KLD_epsilon{0.02f};
33 
34  /** Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's
35  * papers), which is used only if the CParticleFilter is created with the
36  * "adaptiveSampleSize" flag set to true.
37  */
38  unsigned int KLD_minSampleSize{250}, KLD_maxSampleSize{100000};
39 
40  /** (Default: KLD_minSamplesPerBin=0) The minimum number of samples will be
41  * the maximum of KLD_minSampleSize and KLD_minSamplesPerBin *
42  * #ofBinsOccupied in the last time step */
44 };
45 
46 } // namespace mrpt::slam
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
Option set for KLD algorithm.
Definition: TKLDParams.h:17
void dumpToTextStream(std::ostream &out) const override
This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.
Definition: TKLDParams.cpp:25
unsigned int KLD_minSampleSize
Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only i...
Definition: TKLDParams.h:38
This class allows loading and storing values and vectors of different types from a configuration text...
double KLD_minSamplesPerBin
(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleS...
Definition: TKLDParams.h:43
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
This method load the options from a ".ini"-like file or memory-stored string list.
Definition: TKLDParams.cpp:48
double KLD_binSize_XY
Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only i...
Definition: TKLDParams.h:31
GLsizei const GLchar ** string
Definition: glext.h:4116
unsigned int KLD_maxSampleSize
Definition: TKLDParams.h:38
GLsizei GLsizei GLchar * source
Definition: glext.h:4097



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