MRPT  1.9.9
mrpt::bayes::TKF_options Struct Reference

Detailed Description

Generic options for the Kalman Filter algorithm in itself.

Definition at line 56 of file CKalmanFilterCapable.h.

#include <mrpt/bayes/CKalmanFilterCapable.h>

Inheritance diagram for mrpt::bayes::TKF_options:

Public Member Functions

 TKF_options (mrpt::system::VerbosityLevel &verb_level_ref)
 
void loadFromConfigFile (const mrpt::config::CConfigFileBase &iniFile, const std::string &section) override
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (std::ostream &out) const override
 This method must display clearly all the contents of the structure in textual form, sending it to a CStream. More...
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
virtual void saveToConfigFile (mrpt::config::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 

Public Attributes

TKFMethod method {kfEKFNaive}
 The method to employ (default: kfEKFNaive) More...
 
mrpt::system::VerbosityLevelverbosity_level
 
int IKF_iterations {5}
 Number of refinement iterations, only for the IKF method. More...
 
bool enable_profiler {false}
 If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution. More...
 
bool use_analytic_transition_jacobian {true}
 (default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel. More...
 
bool use_analytic_observation_jacobian {true}
 (default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel. More...
 
bool debug_verify_analytic_jacobians {false}
 (default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch. More...
 
double debug_verify_analytic_jacobians_threshold {1e-2}
 (default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians More...
 

Static Protected Member Functions

static void dumpVar_int (std::ostream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (std::ostream &out, const char *varName, float v)
 
static void dumpVar_double (std::ostream &out, const char *varName, double v)
 
static void dumpVar_bool (std::ostream &out, const char *varName, bool v)
 
static void dumpVar_string (std::ostream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

◆ TKF_options()

mrpt::bayes::TKF_options::TKF_options ( mrpt::system::VerbosityLevel verb_level_ref)
inline

Definition at line 58 of file CKalmanFilterCapable.h.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ dumpToTextStream()

void mrpt::bayes::TKF_options::dumpToTextStream ( std::ostream &  out) const
inlineoverridevirtual

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 85 of file CKalmanFilterCapable.h.

References enable_profiler, mrpt::format(), IKF_iterations, method, and verbosity_level.

Here is the call graph for this function:

◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( std::ostream &  out,
const char *  varName,
bool  v 
)
staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

Here is the call graph for this function:

◆ dumpVar_double()

void CLoadableOptions::dumpVar_double ( std::ostream &  out,
const char *  varName,
double  v 
)
staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

Here is the call graph for this function:

◆ dumpVar_float()

void CLoadableOptions::dumpVar_float ( std::ostream &  out,
const char *  varName,
float  v 
)
staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

Here is the call graph for this function:

◆ dumpVar_int()

void CLoadableOptions::dumpVar_int ( std::ostream &  out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

Here is the call graph for this function:

◆ dumpVar_string()

void CLoadableOptions::dumpVar_string ( std::ostream &  out,
const char *  varName,
const std::string v 
)
staticprotectedinherited

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

Here is the call graph for this function:

◆ loadFromConfigFile()

void mrpt::bayes::TKF_options::loadFromConfigFile ( const mrpt::config::CConfigFileBase source,
const std::string section 
)
inlineoverridevirtual

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,...
See also
loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 63 of file CKalmanFilterCapable.h.

References debug_verify_analytic_jacobians, debug_verify_analytic_jacobians_threshold, enable_profiler, IKF_iterations, iniFile(), method, MRPT_LOAD_CONFIG_VAR, use_analytic_observation_jacobian, use_analytic_transition_jacobian, and verbosity_level.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::loadOptions(), and mrpt::slam::CRangeBearingKFSLAM::loadOptions().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName ( const std::string config_file,
const std::string section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also
loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

Here is the call graph for this function:

◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile ( mrpt::config::CConfigFileBase target,
const std::string section 
) const
virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::maps::TSetOfMetricMapInitializers, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicND::TOptions, mrpt::maps::TMapGenericParams, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::maps::TMetricMapInitializer, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 29 of file CLoadableOptions.cpp.

References MRPT_UNUSED_PARAM.

Referenced by mrpt::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::CLoadableOptions::saveToConfigFileName().

Here is the caller graph for this function:

◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName ( const std::string config_file,
const std::string section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also
saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

Here is the call graph for this function:

Member Data Documentation

◆ debug_verify_analytic_jacobians

bool mrpt::bayes::TKF_options::debug_verify_analytic_jacobians {false}

(default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch.

Definition at line 123 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

◆ debug_verify_analytic_jacobians_threshold

double mrpt::bayes::TKF_options::debug_verify_analytic_jacobians_threshold {1e-2}

(default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians

Definition at line 126 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

◆ enable_profiler

bool mrpt::bayes::TKF_options::enable_profiler {false}

If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution.

Definition at line 111 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

◆ IKF_iterations

int mrpt::bayes::TKF_options::IKF_iterations {5}

Number of refinement iterations, only for the IKF method.

Definition at line 108 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

◆ method

TKFMethod mrpt::bayes::TKF_options::method {kfEKFNaive}

The method to employ (default: kfEKFNaive)

Definition at line 105 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

◆ use_analytic_observation_jacobian

bool mrpt::bayes::TKF_options::use_analytic_observation_jacobian {true}

(default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel.

Definition at line 119 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

◆ use_analytic_transition_jacobian

bool mrpt::bayes::TKF_options::use_analytic_transition_jacobian {true}

(default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel.

Definition at line 115 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

◆ verbosity_level

mrpt::system::VerbosityLevel& mrpt::bayes::TKF_options::verbosity_level

Definition at line 106 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().




Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: e5e516cd9 Tue Mar 19 10:41:57 2019 +0100 at mar mar 19 10:50:19 CET 2019