Parameters common to any derived class.
Derived classes should derive a new struct from this one, plus "public utils::CLoadableOptions", and call the internal_* methods where appropiate to deal with the variables declared here. Derived classes instantions of their "TInsertionOptions" MUST set the pointer "m_insertOptions_common" upon construction.
Definition at line 181 of file maps/CRandomFieldGridMap2D.h.
#include <mrpt/maps/CRandomFieldGridMap2D.h>
Public Member Functions | |
TInsertionOptionsCommon () | |
Default values loader. More... | |
void | internal_loadFromConfigFile_common (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. More... | |
void | internal_dumpToTextStream_common (mrpt::utils::CStream &out) const |
See utils::CLoadableOptions. More... | |
Public Attributes | |
Kernel methods (mrKernelDM, mrKernelDMV) | |
float | sigma |
The sigma of the "Parzen"-kernel Gaussian. More... | |
float | cutoffRadius |
The cutoff radius for updating cells. More... | |
float | R_min |
float | R_max |
Limits for normalization of sensor readings. More... | |
double | dm_sigma_omega |
[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) */ More... | |
Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate) | |
float | KF_covSigma |
The "sigma" for the initial covariance value between cells (in meters). More... | |
float | KF_initialCellStd |
The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units). More... | |
float | KF_observationModelNoise |
The sensor model noise (in normalized concentration units). More... | |
float | KF_defaultCellMeanValue |
The default value for the mean of cells' concentration. More... | |
uint16_t | KF_W_size |
[mrKalmanApproximate] The size of the window of neighbor cells. More... | |
Gaussian Markov Random Fields methods (mrGMRF_) | |
float | GMRF_lambdaPrior |
The information (Lambda) of fixed map constraints. More... | |
float | GMRF_lambdaObs |
The initial information (Lambda) of each observation (this information will decrease with time) More... | |
float | GMRF_lambdaObsLoss |
The loss of information of the observations with each iteration. More... | |
bool | GMRF_use_occupancy_information |
wether to use information of an occupancy_gridmap map for buidling the GMRF More... | |
std::string | GMRF_simplemap_file |
simplemap_file name of the occupancy_gridmap More... | |
std::string | GMRF_gridmap_image_file |
image name of the occupancy_gridmap More... | |
float | GMRF_gridmap_image_res |
occupancy_gridmap resolution: size of each pixel (m) More... | |
size_t | GMRF_gridmap_image_cx |
Pixel coordinates of the origin for the occupancy_gridmap. More... | |
size_t | GMRF_gridmap_image_cy |
Pixel coordinates of the origin for the occupancy_gridmap. More... | |
uint16_t | GMRF_constraintsSize |
The size of the Gaussian window to impose fixed restrictions between cells. More... | |
float | GMRF_constraintsSigma |
The sigma of the Gaussian window to impose fixed restrictions between cells. More... | |
mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::TInsertionOptionsCommon | ( | ) |
Default values loader.
void mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common | ( | mrpt::utils::CStream & | out | ) | const |
void mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) |
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius |
The cutoff radius for updating cells.
Definition at line 195 of file maps/CRandomFieldGridMap2D.h.
double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega |
[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) */
Definition at line 197 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_constraintsSigma |
The sigma of the Gaussian window to impose fixed restrictions between cells.
Definition at line 223 of file maps/CRandomFieldGridMap2D.h.
uint16_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_constraintsSize |
The size of the Gaussian window to impose fixed restrictions between cells.
Definition at line 222 of file maps/CRandomFieldGridMap2D.h.
size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cx |
Pixel coordinates of the origin for the occupancy_gridmap.
Definition at line 219 of file maps/CRandomFieldGridMap2D.h.
size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cy |
Pixel coordinates of the origin for the occupancy_gridmap.
Definition at line 220 of file maps/CRandomFieldGridMap2D.h.
std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_file |
image name of the occupancy_gridmap
Definition at line 217 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_res |
occupancy_gridmap resolution: size of each pixel (m)
Definition at line 218 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObs |
The initial information (Lambda) of each observation (this information will decrease with time)
Definition at line 212 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObsLoss |
The loss of information of the observations with each iteration.
Definition at line 213 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaPrior |
The information (Lambda) of fixed map constraints.
Definition at line 211 of file maps/CRandomFieldGridMap2D.h.
std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_simplemap_file |
simplemap_file name of the occupancy_gridmap
Definition at line 216 of file maps/CRandomFieldGridMap2D.h.
bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_use_occupancy_information |
wether to use information of an occupancy_gridmap map for buidling the GMRF
Definition at line 215 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma |
The "sigma" for the initial covariance value between cells (in meters).
Definition at line 202 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue |
The default value for the mean of cells' concentration.
Definition at line 205 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd |
The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).
Definition at line 203 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise |
The sensor model noise (in normalized concentration units).
Definition at line 204 of file maps/CRandomFieldGridMap2D.h.
uint16_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size |
[mrKalmanApproximate] The size of the window of neighbor cells.
Definition at line 206 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max |
Limits for normalization of sensor readings.
Definition at line 196 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min |
Definition at line 196 of file maps/CRandomFieldGridMap2D.h.
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma |
The sigma of the "Parzen"-kernel Gaussian.
Definition at line 194 of file maps/CRandomFieldGridMap2D.h.
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