Class TKLDParams

Inheritance Relationships

Base Type

  • public mrpt::config::CLoadableOptions

Class Documentation

class TKLDParams : public mrpt::config::CLoadableOptions

Option set for KLD algorithm.

Public Functions

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

Public Members

double KLD_binSize_XY = {0.2f}

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox’s papers), which is used only if the CParticleFilter is created with the “adaptiveSampleSize” flag set to true.

double KLD_binSize_PHI
double KLD_delta = {0.01f}
double KLD_epsilon = {0.02f}
unsigned int KLD_minSampleSize = {250}

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox’s papers), which is used only if the CParticleFilter is created with the “adaptiveSampleSize” flag set to true.

unsigned int KLD_maxSampleSize = {100000}
double KLD_minSamplesPerBin = {0}

(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * #ofBinsOccupied in the last time step