#include <mrpt/slam/CBeaconMap.h>
Public Member Functions | |
TInsertionOptions () | |
Initilization of default parameters. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. | |
void | dumpToTextStream (CStream &out) const |
See utils::CLoadableOptions. | |
Public Attributes | |
bool | insertAsMonteCarlo |
Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::slam::CBeacon). | |
float | maxElevation_deg |
Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90. | |
float | minElevation_deg |
unsigned int | MC_numSamplesPerMeter |
Number of particles per meter of range, i.e. | |
float | MC_maxStdToGauss |
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4). | |
float | MC_thresholdNegligible |
Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5). | |
bool | MC_performResampling |
If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion. | |
float | MC_afterResamplingNoise |
The std.dev. | |
float | SOG_thresholdNegligible |
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20). | |
float | SOG_maxDistBetweenGaussians |
A parameter for initializing 2D/3D SOGs. | |
float | SOG_separationConstant |
Constant used to compute the std. |
Definition at line 160 of file CBeaconMap.h.
mrpt::slam::CBeaconMap::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
void mrpt::slam::CBeaconMap::TInsertionOptions::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
void mrpt::slam::CBeaconMap::TInsertionOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::slam::CBeacon).
Definition at line 180 of file CBeaconMap.h.
Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.
Definition at line 184 of file CBeaconMap.h.
The std.dev.
of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true.
Definition at line 204 of file CBeaconMap.h.
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).
Definition at line 192 of file CBeaconMap.h.
Number of particles per meter of range, i.e.
per meter of the "radius of the ring".
Definition at line 188 of file CBeaconMap.h.
If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.
Definition at line 200 of file CBeaconMap.h.
Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).
Definition at line 196 of file CBeaconMap.h.
Definition at line 184 of file CBeaconMap.h.
Constant used to compute the std.
dev. int the tangent direction when creating the Gaussians.
Definition at line 216 of file CBeaconMap.h.
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).
Definition at line 208 of file CBeaconMap.h.
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