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mrpt::maps::CPointsMap::TLikelihoodOptions Struct Reference

Detailed Description

Options used when evaluating "computeObservationLikelihood" in the derived classes.

See also
CObservation::computeObservationLikelihood

Definition at line 191 of file maps/CPointsMap.h.

#include <mrpt/maps/CPointsMap.h>

Inheritance diagram for mrpt::maps::CPointsMap::TLikelihoodOptions:
Inheritance graph

Public Member Functions

 TLikelihoodOptions ()
 Initilization of default parameters. More...
 
virtual ~TLikelihoodOptions ()
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const
 See utils::CLoadableOptions. More...
 
void writeToStream (mrpt::utils::CStream &out) const
 Binary dump to stream - for usage in derived classes' serialization. More...
 
void readFromStream (mrpt::utils::CStream &in)
 Binary dump to stream - for usage in derived classes' serialization. More...
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 

Public Attributes

double sigma_dist
 Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters) More...
 
double max_corr_distance
 Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters) More...
 
uint32_t decimation
 Speed up the likelihood computation by considering only one out of N rays (default=10) More...
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

mrpt::maps::CPointsMap::TLikelihoodOptions::TLikelihoodOptions ( )

Initilization of default parameters.

virtual mrpt::maps::CPointsMap::TLikelihoodOptions::~TLikelihoodOptions ( )
inlinevirtual

Definition at line 196 of file maps/CPointsMap.h.

Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

void mrpt::maps::CPointsMap::TLikelihoodOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual
static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited
void mrpt::maps::CPointsMap::TLikelihoodOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual
void mrpt::utils::CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file,
const std::string &  section 
)
inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also
loadFromConfigFile
void mrpt::maps::CPointsMap::TLikelihoodOptions::readFromStream ( mrpt::utils::CStream in)

Binary dump to stream - for usage in derived classes' serialization.

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string &  section 
) const
virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.

void mrpt::utils::CLoadableOptions::saveToConfigFileName ( const std::string &  config_file,
const std::string &  section 
) const
inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also
saveToConfigFile, loadFromConfigFileName
void mrpt::maps::CPointsMap::TLikelihoodOptions::writeToStream ( mrpt::utils::CStream out) const

Binary dump to stream - for usage in derived classes' serialization.

Member Data Documentation

uint32_t mrpt::maps::CPointsMap::TLikelihoodOptions::decimation

Speed up the likelihood computation by considering only one out of N rays (default=10)

Definition at line 211 of file maps/CPointsMap.h.

double mrpt::maps::CPointsMap::TLikelihoodOptions::max_corr_distance

Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters)

Definition at line 210 of file maps/CPointsMap.h.

double mrpt::maps::CPointsMap::TLikelihoodOptions::sigma_dist

Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters)

Definition at line 209 of file maps/CPointsMap.h.




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