#include <mrpt/slam/CLandmarksMap.h>
Classes | |
struct | TGPSOrigin |
This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. More... | |
Public Member Functions | |
TLikelihoodOptions () | |
Initilization of default parameters. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. | |
void | dumpToTextStream (utils::CStream &out) |
See utils::CLoadableOptions. | |
Public Attributes | |
unsigned int | rangeScan2D_decimation |
The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation). | |
double | SIFTs_sigma_euclidean_dist |
double | SIFTs_sigma_descriptor_dist |
float | SIFTs_mahaDist_std |
float | SIFTnullCorrespondenceDistance |
int | SIFTs_decimation |
Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation. | |
float | beaconRangesStd |
The standard deviation used for Beacon ranges likelihood (default=0.08). | |
float | alphaRatio |
The ratio between gaussian and uniform distribution (default=1). | |
float | beaconMaxRange |
Maximun reliable beacon range value (default=20). | |
struct MRPTDLLIMPEXP mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin | GPSOrigin |
This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. | |
float | GPS_sigma |
A constant "sigma" for GPS localization data (in meters). |
Definition at line 287 of file CLandmarksMap.h.
mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
Initilization of default parameters.
void mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::dumpToTextStream | ( | utils::CStream & | out | ) | [virtual] |
void mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
float mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::alphaRatio |
The ratio between gaussian and uniform distribution (default=1).
Definition at line 326 of file CLandmarksMap.h.
float mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::beaconMaxRange |
float mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::beaconRangesStd |
The standard deviation used for Beacon ranges likelihood (default=0.08).
Definition at line 322 of file CLandmarksMap.h.
float mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::GPS_sigma |
A constant "sigma" for GPS localization data (in meters).
Definition at line 370 of file CLandmarksMap.h.
struct MRPTDLLIMPEXP mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::GPSOrigin |
This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot.
unsigned int mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::rangeScan2D_decimation |
The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation).
Definition at line 306 of file CLandmarksMap.h.
float mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::SIFTnullCorrespondenceDistance |
Definition at line 314 of file CLandmarksMap.h.
int mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::SIFTs_decimation |
Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation.
Definition at line 318 of file CLandmarksMap.h.
float mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::SIFTs_mahaDist_std |
Definition at line 312 of file CLandmarksMap.h.
double mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_descriptor_dist |
Definition at line 310 of file CLandmarksMap.h.
double mrpt::slam::CLandmarksMap::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_euclidean_dist |
Definition at line 308 of file CLandmarksMap.h.
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