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TMonteCarloLocalizationParams.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef TMonteCarloLocalizationParams_H
10#define TMonteCarloLocalizationParams_H
11
14
16
17namespace mrpt
18{
19 namespace slam
20 {
21 /** The struct for passing extra simulation parameters to the prediction stage
22 * when running a particle filter.
23 * \ingroup mrpt_slam_grp
24 */
26 {
27 /** Default settings method.
28 */
30
31 /** Copy constructor: take care of knowing what you do, since this copies pointers. */
33
34 /** Copy operator: take care of knowing what you do, since this copies pointers. */
36
37 /** [update stage] Must be set to a metric map used to estimate the likelihood of observations
38 */
40
41 /** [update stage] Alternative way (if metricMap==NULL): A metric map is supplied for each particle: There must be the same maps here as pose m_particles.
42 */
44
45 TKLDParams KLD_params; //!< Parameters for dynamic sample size, KLD method.
46 };
47
48 } // End of namespace
49} // End of namespace
50
51#endif
Declares a virtual base class for all metric maps storage classes.
Option set for KLD algorithm.
Definition: TKLDParams.h:23
std::deque< CMetricMap * > TMetricMapList
A list of metric maps (used in the mrpt::poses::CPosePDFParticles class):
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
The struct for passing extra simulation parameters to the prediction stage when running a particle fi...
TKLDParams KLD_params
Parameters for dynamic sample size, KLD method.
mrpt::maps::TMetricMapList metricMaps
[update stage] Alternative way (if metricMap==NULL): A metric map is supplied for each particle: Ther...
mrpt::maps::CMetricMap * metricMap
[update stage] Must be set to a metric map used to estimate the likelihood of observations
TMonteCarloLocalizationParams(const TMonteCarloLocalizationParams &o)
Copy constructor: take care of knowing what you do, since this copies pointers.
TMonteCarloLocalizationParams()
Default settings method.



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