#include <mrpt/slam/CRangeBearingKFSLAM.h>
Public Member Functions | |
TOptions () | |
Default values. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
Load from a config file/text. | |
void | dumpToTextStream (CStream &out) const |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream. | |
Public Attributes | |
vector_float | stds_Q_no_odo |
A 6-length vector with the std. | |
float | std_sensor_range |
The std. | |
float | std_sensor_yaw |
float | std_sensor_pitch |
float | std_odo_z_additional |
Additional std. | |
bool | doPartitioningExperiment |
If set to true (default=false), map will be partitioned using the method stated by partitioningMethod. | |
float | quantiles_3D_representation |
Default = 3. | |
int | partitioningMethod |
Applicable only if "doPartitioningExperiment=true". | |
bool | create_simplemap |
Whether to fill m_SFs (default=false). |
Definition at line 118 of file CRangeBearingKFSLAM.h.
mrpt::slam::CRangeBearingKFSLAM::TOptions::TOptions | ( | ) |
Default values.
void mrpt::slam::CRangeBearingKFSLAM::TOptions::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Implements mrpt::utils::CLoadableOptions.
void mrpt::slam::CRangeBearingKFSLAM::TOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.
Definition at line 148 of file CRangeBearingKFSLAM.h.
Applicable only if "doPartitioningExperiment=true".
0: Automatically detect partition through graph-cut. N>=1: Cut every "N" observations.
Definition at line 158 of file CRangeBearingKFSLAM.h.
Additional std.
dev. to sum to the motion model in the z axis (useful when there is only 2D odometry and we want to put things hard to the algorithm) (default=0)
Definition at line 144 of file CRangeBearingKFSLAM.h.
Definition at line 140 of file CRangeBearingKFSLAM.h.
The std.
deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.
Definition at line 140 of file CRangeBearingKFSLAM.h.
Definition at line 140 of file CRangeBearingKFSLAM.h.
A 6-length vector with the std.
deviation of the transition model in (x,y,z,yaw,pitch,roll) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y z: In meters, yaw pitch roll: radians (but in degrees when loading from a configuration ini-file!)
Definition at line 136 of file CRangeBearingKFSLAM.h.
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