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mrpt::slam::CLandmarksMap::TLikelihoodOptions Struct Reference

With this struct options are provided to the likelihood computations. More...

#include <mrpt/slam/CLandmarksMap.h>

Inheritance diagram for mrpt::slam::CLandmarksMap::TLikelihoodOptions:

mrpt::utils::CLoadableOptions

List of all members.

Classes

struct  TGPSOrigin
 This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. More...

Public Member Functions

 TLikelihoodOptions ()
 Initilization of default parameters.
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions.
void dumpToTextStream (CStream &out) const
 See utils::CLoadableOptions.

Public Attributes

unsigned int rangeScan2D_decimation
 The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation).
double SIFTs_sigma_euclidean_dist
double SIFTs_sigma_descriptor_dist
float SIFTs_mahaDist_std
float SIFTnullCorrespondenceDistance
int SIFTs_decimation
 Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation.
float beaconRangesStd
 The standard deviation used for Beacon ranges likelihood (default=0.08).
float alphaRatio
 The ratio between gaussian and uniform distribution (default=1).
float beaconMaxRange
 Maximun reliable beacon range value (default=20).
struct MRPTDLLIMPEXP
mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin 
GPSOrigin
 This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot.
float GPS_sigma
 A constant "sigma" for GPS localization data (in meters).


Detailed Description

With this struct options are provided to the likelihood computations.

Definition at line 291 of file CLandmarksMap.h.


Constructor & Destructor Documentation

mrpt::slam::CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions (  ) 

Initilization of default parameters.


Member Function Documentation

void mrpt::slam::CLandmarksMap::TLikelihoodOptions::dumpToTextStream ( CStream out  )  const [virtual]

void mrpt::slam::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]


Member Data Documentation

The ratio between gaussian and uniform distribution (default=1).

Definition at line 330 of file CLandmarksMap.h.

Maximun reliable beacon range value (default=20).

Definition at line 334 of file CLandmarksMap.h.

The standard deviation used for Beacon ranges likelihood (default=0.08).

Definition at line 326 of file CLandmarksMap.h.

A constant "sigma" for GPS localization data (in meters).

Definition at line 374 of file CLandmarksMap.h.

This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot.

The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation).

Definition at line 310 of file CLandmarksMap.h.

Definition at line 318 of file CLandmarksMap.h.

Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation.

Definition at line 322 of file CLandmarksMap.h.

Definition at line 316 of file CLandmarksMap.h.

Definition at line 314 of file CLandmarksMap.h.

Definition at line 312 of file CLandmarksMap.h.




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