struct mrpt::maps::TVoxelMap_LikelihoodOptions

Overview

Options used when evaluating “computeObservationLikelihood”.

See also:

CObservation::computeObservationLikelihood

#include <mrpt/maps/CVoxelMapOccupancyBase.h>

struct TVoxelMap_LikelihoodOptions: public mrpt::config::CLoadableOptions
{
    // fields

    uint32_t decimate_up_to = 0;
    double occupiedThreshold = 0.60;

    // construction

    TVoxelMap_LikelihoodOptions();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void writeToStream(mrpt::serialization::CArchive& out) const;
    void readFromStream(mrpt::serialization::CArchive& in);
};

Inherited Members

public:
    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields

uint32_t decimate_up_to = 0

Speed up the likelihood computation by considering only a maximum of decimate_up_to rays.

Values <=1 mean use all measurements without decimation.

double occupiedThreshold = 0.60

Minimum occupancy (0,1) for a voxel to be considered occupied.

Methods

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

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,...