MRPT  1.9.9
TMonteCarloLocalizationParams.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 
11 #include <mrpt/maps/CMetricMap.h>
12 #include <mrpt/slam/TKLDParams.h>
13 
14 namespace mrpt::slam
15 {
16 /** The struct for passing extra simulation parameters to the prediction stage
17  * when running a particle filter.
18  * \ingroup mrpt_slam_grp
19  */
21 {
22  /** Default settings method.
23  */
25 
26  /** Copy constructor: take care of knowing what you do, since this copies
27  * pointers. */
29 
30  /** Copy operator: take care of knowing what you do, since this copies
31  * pointers. */
34 
35  /** [update stage] Must be set to a metric map used to estimate the
36  * likelihood of observations
37  */
39 
40  /** [update stage] Alternative way (if metricMap==nullptr): A metric map is
41  * supplied for each particle: There must be the same maps here as pose
42  * m_particles.
43  */
45 
46  /** Parameters for dynamic sample size, KLD method. */
48 };
49 
50 } // namespace mrpt::slam
The struct for passing extra simulation parameters to the prediction stage when running a particle fi...
Option set for KLD algorithm.
Definition: TKLDParams.h:17
mrpt::maps::TMetricMapList metricMaps
[update stage] Alternative way (if metricMap==nullptr): A metric map is supplied for each particle: T...
mrpt::maps::CMetricMap * metricMap
[update stage] Must be set to a metric map used to estimate the likelihood of observations ...
std::deque< CMetricMap * > TMetricMapList
A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):
Definition: CMetricMap.h:310
TMonteCarloLocalizationParams & operator=(const TMonteCarloLocalizationParams &o)
Copy operator: take care of knowing what you do, since this copies pointers.
Declares a virtual base class for all metric maps storage classes.
Definition: CMetricMap.h:52
TKLDParams KLD_params
Parameters for dynamic sample size, KLD method.



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