Struct TMonteCarloLocalizationParams

Defined in File TMonteCarloLocalizationParams.h

Struct Documentation

struct TMonteCarloLocalizationParams

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

Public Functions

TMonteCarloLocalizationParams() = default

Public Members

mrpt::maps::CMetricMap::ConstPtr metricMap: [update stage] Must be set to a metric map used to estimate the likelihood of observations

std::vector<mrpt::maps::CMetricMap::ConstPtr> metricMaps: [update stage] Alternative way (if metricMap==nullptr): A metric map is supplied for each particle: There must be the same maps here as pose m_particles.

TKLDParams KLD_params: Parameters for dynamic sample size, KLD method.