struct mrpt::maps::COctoMapBase::TLikelihoodOptions

Overview

observations in the map

Options used when evaluating “computeObservationLikelihood”

See also:

CObservation::computeObservationLikelihood

#include <mrpt/maps/COctoMapBase.h>

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

    uint32_t decimation {1};

    // construction

    TLikelihoodOptions();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) 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 decimation {1}

Speed up the likelihood computation by considering only one out of N rays (default=1)

Construction

TLikelihoodOptions()

Initialization of default parameters.

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,...

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.

void writeToStream(mrpt::serialization::CArchive& out) const

Binary dump to stream.

void readFromStream(mrpt::serialization::CArchive& in)

Binary dump to stream.