Struct CRangeBearingKFSLAM2D::TOptions
Defined in File CRangeBearingKFSLAM2D.h
Nested Relationships
This struct is a nested type of Class CRangeBearingKFSLAM2D.
Inheritance Relationships
Base Type
public mrpt::config::CLoadableOptions
Struct Documentation
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struct TOptions : public mrpt::config::CLoadableOptions
The options for the algorithm
Public Functions
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TOptions()
Default values
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void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string §ion) override
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void dumpToTextStream(std::ostream &out) const override
Public Members
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mrpt::math::CVectorFloat stds_Q_no_odo
A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)
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float std_sensor_range = {0.1f}
The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.
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float std_sensor_yaw
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float quantiles_3D_representation = {3}
Default = 3
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bool create_simplemap = {false}
Whether to fill m_SFs (default=false)
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TDataAssociationMethod data_assoc_method = {assocNN}
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TDataAssociationMetric data_assoc_metric = {metricMaha}
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double data_assoc_IC_chi2_thres = {0.99}
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)
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TDataAssociationMetric data_assoc_IC_metric = {metricMaha}
Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.
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double data_assoc_IC_ml_threshold = {0.0}
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)
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TOptions()