Struct CMultiMetricMapPDF::TPredictionParams

Nested Relationships

This struct is a nested type of Class CMultiMetricMapPDF.

Inheritance Relationships

Base Type

  • public mrpt::config::CLoadableOptions

Struct Documentation

struct TPredictionParams : public mrpt::config::CLoadableOptions

The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter.

See also

prediction_and_update

Public Functions

TPredictionParams() = default

Default settings method

void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
void dumpToTextStream(std::ostream &out) const override

Public Members

int pfOptimalProposal_mapSelection = {0}

[pf optimal proposal only] Only for PF algorithm=2 (Exact “pfOptimalProposal”) Select the map on which to calculate the optimal proposal distribution. Values: 0: Gridmap -> Uses Scan matching-based approximation (based on Stachniss’ work) 1: Landmarks -> Uses matching to approximate optimal 2: Beacons -> Used for exact optimal proposal in RO-SLAM 3: Pointsmap -> Uses Scan matching-based approximation with a map of points (based on Stachniss’ work) Default = 0

float ICPGlobalAlign_MinQuality = {0.70f}

[prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum quality ratio [0,1] of the alignment such as it will be accepted. Otherwise, raw odometry is used for those bad cases (default=0.7).

mrpt::slam::TKLDParams KLD_params
mrpt::slam::CICP::TConfigParams icp_params

ICP parameters, used only when “PF_algorithm=2” in the particle filter.