class mrpt::slam::TKLDParams

Overview

Option set for KLD algorithm.

#include <mrpt/slam/TKLDParams.h>

class TKLDParams: public mrpt::config::CLoadableOptions
{
public:
    // fields

    double KLD_binSize_XY {0.2f};
    double KLD_binSize_PHI;
    double KLD_delta {0.01f};
    double KLD_epsilon {0.02f};
    unsigned int KLD_minSampleSize {250};
    unsigned int KLD_maxSampleSize {100000};
    double KLD_minSamplesPerBin {0};

    // construction

    TKLDParams();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) const;
};

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

double KLD_binSize_XY {0.2f}

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox’s papers), which is used only if the CParticleFilter is created with the “adaptiveSampleSize” flag set to true.

unsigned int KLD_minSampleSize {250}

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox’s papers), which is used only if the CParticleFilter is created with the “adaptiveSampleSize” flag set to true.

double KLD_minSamplesPerBin {0}

(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * #ofBinsOccupied in the last time step

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,...

See also:

loadFromConfigFileName, saveToConfigFile

virtual void dumpToTextStream(std::ostream& out) const

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.