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mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions Struct Reference

The options for the algorithm. More...

#include <mrpt/slam/CRangeBearingKFSLAM.h>

Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions:

mrpt::utils::CLoadableOptions

List of all members.

Public Member Functions

 TOptions ()
 Default values.
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 Load from a config file/text.
void dumpToTextStream (CStream &out)
 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".


Detailed Description

The options for the algorithm.

Definition at line 117 of file CRangeBearingKFSLAM.h.


Constructor & Destructor Documentation

mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions::TOptions (  ) 

Default values.


Member Function Documentation

void mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions::dumpToTextStream ( CStream out  )  [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::CRangeBearingKFSLAM::TOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]

Load from a config file/text.

Implements mrpt::utils::CLoadableOptions.


Member Data Documentation

bool mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions::doPartitioningExperiment

If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.

Definition at line 147 of file CRangeBearingKFSLAM.h.

int mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions::partitioningMethod

Applicable only if "doPartitioningExperiment=true".

0: Automatically detect partition through graph-cut. N>=1: Cut every "N" observations.

Definition at line 157 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions::quantiles_3D_representation

Default = 3.

Definition at line 151 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions::std_odo_z_additional

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 143 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions::std_sensor_pitch

Definition at line 139 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions::std_sensor_range

The std.

deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.

Definition at line 139 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions::std_sensor_yaw

Definition at line 139 of file CRangeBearingKFSLAM.h.

vector_float mrpt::slam::CRangeBearingKFSLAM::CRangeBearingKFSLAM::TOptions::stds_Q_no_odo

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 135 of file CRangeBearingKFSLAM.h.




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