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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1slam.html">slam</a>::<a class="el" href="classmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d.html">CGasConcentrationGridMap2D</a>::<a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html">TInsertionOptions</a>
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<h1>mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions Struct Reference</h1><!-- doxytag: class="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" -->
<p>Parameters related with inserting observations into the map:.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">mrpt/slam/CGasConcentrationGridMap2D.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions:</div>
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<div class="center"><img src="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options_inherit__map" id="mrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options_inherit__map">
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Collaboration diagram for mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions:</div>
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<div class="center"><img src="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options__coll__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options_coll__map" alt="Collaboration graph"/></div>
<map name="mrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options_coll__map" id="mrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options_coll__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved..." alt="" coords="1859,5,2053,35"/><area shape="rect" id="node6" href="structmrpt_1_1slam_1_1_tdata_map.html" title="The content of each m_lastObservations in KF3_deconv estimation." alt="" coords="1599,104,1748,133"/><area shape="rect" id="node8" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose." alt="" coords="1324,104,1479,133"/><area shape="rect" id="node10" href="classmrpt_1_1poses_1_1_c_pose.html" title="A virtual base class to represent a pose in 2D or 3D." alt="" coords="1009,81,1148,111"/><area shape="rect" id="node12" href="classmrpt_1_1poses_1_1_c_pose_or_point.html" title="The base class for 2D points, 3D points, 2D poses and 3D poses." alt="" coords="591,81,772,111"/><area shape="rect" id="node14" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects..." alt="" coords="296,81,461,111"/><area shape="rect" id="node16" href="classmrpt_1_1utils_1_1_c_object.html" title="The virtual base class of all MRPT classes with a unified RTTI system." alt="" coords="5,128,141,157"/><area shape="rect" id="node18" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html" title="A structure that holds runtime class type information." alt="" coords="284,176,473,205"/><area shape="rect" id="node22" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html" title="mrpt::math::CMatrixFixedNumeric\< double, 4, 4 \>" alt="" coords="923,135,1235,164"/><area shape="rect" id="node24" href="classmrpt_1_1math_1_1_c_array.html" title="mrpt::math::CArray\< double, NROWS *NCOLS \>" alt="" coords="527,135,836,164"/><area shape="rect" id="node26" href="structmrpt_1_1mrpt__base__vector.html" title="mrpt::mrpt_base_vector\< float \>" alt="" coords="1852,233,2060,263"/><area shape="rect" id="node28" title="STL class." alt="" coords="1607,233,1740,263"/></map>
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<p><a href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a25b8622189a24a7298a73135f842779d">TInsertionOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default values loader:. <a href="#a25b8622189a24a7298a73135f842779d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a092984df10a94547fe82a53ba33c3d62">loadFromConfigFile</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &source, const std::string &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved...">utils::CLoadableOptions</a>. <a href="#a092984df10a94547fe82a53ba33c3d62"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a40f8b71e5d930302530d8c8f793ef753">dumpToTextStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved...">utils::CLoadableOptions</a>. <a href="#a40f8b71e5d930302530d8c8f793ef753"></a><br/></td></tr>
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a1d51f588276132c4aaf22c11ea60ce5e">sigma</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The sigma of the "Parzen"-kernel Gaussian. <a href="#a1d51f588276132c4aaf22c11ea60ce5e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#aae9ab5dbc85aa18a1872b6dc2f133e38">cutoffRadius</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The cutoff radius for updating cells. <a href="#aae9ab5dbc85aa18a1872b6dc2f133e38"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ae63c2be90fadb9e51d333d69f35f6870">R_min</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Limits for normalization of sensor readings. <a href="#ae63c2be90fadb9e51d333d69f35f6870"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a093ff9b320010448e4bfcc6eb159fb79">R_max</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#adc2817837afa9e34680e0314980cb469">KF_covSigma</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF model] The "sigma" for the initial covariance value between cells (in meters). <a href="#adc2817837afa9e34680e0314980cb469"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a19bcdf7a8bb49d06457099e1ad482a36">KF_initialCellStd</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF model] The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units). <a href="#a19bcdf7a8bb49d06457099e1ad482a36"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a4d792788080c85a3ba62ea35adbc690b">KF_observationModelNoise</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF model] The sensor model noise (in normalized concentration units). <a href="#a4d792788080c85a3ba62ea35adbc690b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a8cdecad16a80d01904216a9a010a9272">KF_defaultCellMeanValue</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF model] The default value for the mean of cells' concentration. <a href="#a8cdecad16a80d01904216a9a010a9272"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#aa4e0966f16ef6137629d668a18a59a1f">KF_W_size</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF2 algorithm] The size of the window of neighbor cells. <a href="#aa4e0966f16ef6137629d668a18a59a1f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a367022a6631760627d90e765a5bebaf1">KF_sensorType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF3 algortihm] The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, . <a href="#a367022a6631760627d90e765a5bebaf1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#aac6a9fedccc76c7a4062e74fd5117d6e">tauR</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Tau values for the rise (tauR) and decay (tauD) sensor's phases. <a href="#aac6a9fedccc76c7a4062e74fd5117d6e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ab685097713d17d35a3491d0f62802edb">tauD</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_tdata_map.html">TdataMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a20bebbfb700cf15a30d2194bb4b8b452">new_Obs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF3 algortihm] The last N GasObservations, used for the Kalman Filter with deconvolution estimation. <a href="#a20bebbfb700cf15a30d2194bb4b8b452"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_tdata_map.html">TdataMap</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#afcb5a221239b3cd6ed5dd9b6d609024d">new_ANS</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="structmrpt_1_1slam_1_1_tdata_map.html">TdataMap</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a920c2da0739c2d58e973be8de710162e">m_lastObservations</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector< <a class="el" href="structmrpt_1_1slam_1_1_tdata_map.html">TdataMap</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ae4596809bf17bdcb339ae1bc34d004dc">antiNoise_window</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#aab3845650401df8cbd6cb6b259fba521">lastObservations_size</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF3 algortihm] The number of observations to keep in m_lastObservations <a href="#aab3845650401df8cbd6cb6b259fba521"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ac7d9f7f433953e624b84adccefb185da">winNoise_size</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF3 algortihm] The number of observations used to reduce noise on signal. <a href="#ac7d9f7f433953e624b84adccefb185da"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a059e6107e70242afc70953d5a4c4d19c">decimate_value</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF3 algortihm] The decimate frecuency applied after noise filtering <a href="#a059e6107e70242afc70953d5a4c4d19c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a4cff00f61d0d73f396afa81725132c42">tauD_concentration</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF3 algortihm] Measured values of K= 1/tauD for different volatile concentrations <a href="#a4cff00f61d0d73f396afa81725132c42"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a1071f1209c02428a3a89643c70d1a018">tauD_value</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a6327bb4bd4b3d0de23f19dbf1f548962">memory_speed</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF3 algortihm] Measured values of the delay (memory effect) for different robot speeds <a href="#a6327bb4bd4b3d0de23f19dbf1f548962"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a73a73777a6b7d43a854745a3faf81f13">memory_delay</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a06159894b0911e0319c3da11117aeb11">enose_id</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF3 algortihm] id for the enose used to generate this map (must be < gasGrid_count) <a href="#a06159894b0911e0319c3da11117aeb11"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ac57e58da4e89792729e2ed4951fcda1a">save_maplog</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[KF3 algortihm] true / 1= Save generated gas map as a log file <a href="#ac57e58da4e89792729e2ed4951fcda1a"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Parameters related with inserting observations into the map:. </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00164">164</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a25b8622189a24a7298a73135f842779d"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::TInsertionOptions" ref="a25b8622189a24a7298a73135f842779d" args="()" -->
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<td class="memname">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::TInsertionOptions </td>
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<p>Default values loader:. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a40f8b71e5d930302530d8c8f793ef753"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream" ref="a40f8b71e5d930302530d8c8f793ef753" args="(CStream &out) const " -->
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<td class="memname">void mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"> <em>out</em></td>
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<td> const<code> [virtual]</code></td>
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<p>See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved...">utils::CLoadableOptions</a>. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#adbe314b74deedfe953290ebf48750883">mrpt::utils::CLoadableOptions</a>.</p>
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<a class="anchor" id="a092984df10a94547fe82a53ba33c3d62"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::loadFromConfigFile" ref="a092984df10a94547fe82a53ba33c3d62" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::loadFromConfigFile </td>
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<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"> <em>source</em>, </td>
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<td class="paramname"> <em>section</em></td><td> </td>
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<td>)</td>
<td></td><td></td><td><code> [virtual]</code></td>
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<p>See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved...">utils::CLoadableOptions</a>. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2">mrpt::utils::CLoadableOptions</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ae4596809bf17bdcb339ae1bc34d004dc"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::antiNoise_window" ref="ae4596809bf17bdcb339ae1bc34d004dc" args="" -->
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<td class="memname">std::vector<<a class="el" href="structmrpt_1_1slam_1_1_tdata_map.html">TdataMap</a>> <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ae4596809bf17bdcb339ae1bc34d004dc">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::antiNoise_window</a></td>
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<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00224">224</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="aae9ab5dbc85aa18a1872b6dc2f133e38"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::cutoffRadius" ref="aae9ab5dbc85aa18a1872b6dc2f133e38" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#aae9ab5dbc85aa18a1872b6dc2f133e38">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::cutoffRadius</a></td>
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<p>The cutoff radius for updating cells. </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00186">186</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a059e6107e70242afc70953d5a4c4d19c"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::decimate_value" ref="a059e6107e70242afc70953d5a4c4d19c" args="" -->
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<td class="memname">uint16_t <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a059e6107e70242afc70953d5a4c4d19c">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::decimate_value</a></td>
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<p>[KF3 algortihm] The decimate frecuency applied after noise filtering </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00236">236</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a06159894b0911e0319c3da11117aeb11"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::enose_id" ref="a06159894b0911e0319c3da11117aeb11" args="" -->
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<p>[KF3 algortihm] id for the enose used to generate this map (must be < gasGrid_count) </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00250">250</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="adc2817837afa9e34680e0314980cb469"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_covSigma" ref="adc2817837afa9e34680e0314980cb469" args="" -->
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<p>[KF model] The "sigma" for the initial covariance value between cells (in meters). </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00194">194</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a8cdecad16a80d01904216a9a010a9272"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_defaultCellMeanValue" ref="a8cdecad16a80d01904216a9a010a9272" args="" -->
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<p>[KF model] The default value for the mean of cells' concentration. </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00206">206</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a19bcdf7a8bb49d06457099e1ad482a36"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_initialCellStd" ref="a19bcdf7a8bb49d06457099e1ad482a36" args="" -->
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<p>[KF model] The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units). </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00198">198</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a4d792788080c85a3ba62ea35adbc690b"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_observationModelNoise" ref="a4d792788080c85a3ba62ea35adbc690b" args="" -->
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<p>[KF model] The sensor model noise (in normalized concentration units). </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00202">202</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a367022a6631760627d90e765a5bebaf1"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_sensorType" ref="a367022a6631760627d90e765a5bebaf1" args="" -->
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<p>[KF3 algortihm] The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, . </p>
<p>..) </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00213">213</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="aa4e0966f16ef6137629d668a18a59a1f"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::KF_W_size" ref="aa4e0966f16ef6137629d668a18a59a1f" args="" -->
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<p>[KF2 algorithm] The size of the window of neighbor cells. </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00209">209</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="aab3845650401df8cbd6cb6b259fba521"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::lastObservations_size" ref="aab3845650401df8cbd6cb6b259fba521" args="" -->
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<p>[KF3 algortihm] The number of observations to keep in m_lastObservations </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00228">228</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a920c2da0739c2d58e973be8de710162e"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::m_lastObservations" ref="a920c2da0739c2d58e973be8de710162e" args="" -->
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<td class="memname">std::vector<<a class="el" href="structmrpt_1_1slam_1_1_tdata_map.html">TdataMap</a>> <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a920c2da0739c2d58e973be8de710162e">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::m_lastObservations</a></td>
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<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00223">223</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a73a73777a6b7d43a854745a3faf81f13"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::memory_delay" ref="a73a73777a6b7d43a854745a3faf81f13" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a73a73777a6b7d43a854745a3faf81f13">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::memory_delay</a></td>
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<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00246">246</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a6327bb4bd4b3d0de23f19dbf1f548962"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::memory_speed" ref="a6327bb4bd4b3d0de23f19dbf1f548962" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a6327bb4bd4b3d0de23f19dbf1f548962">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::memory_speed</a></td>
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<p>[KF3 algortihm] Measured values of the delay (memory effect) for different robot speeds </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00245">245</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="afcb5a221239b3cd6ed5dd9b6d609024d"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::new_ANS" ref="afcb5a221239b3cd6ed5dd9b6d609024d" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_tdata_map.html">TdataMap</a> <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#afcb5a221239b3cd6ed5dd9b6d609024d">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::new_ANS</a></td>
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<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00222">222</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a20bebbfb700cf15a30d2194bb4b8b452"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::new_Obs" ref="a20bebbfb700cf15a30d2194bb4b8b452" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_tdata_map.html">TdataMap</a> <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a20bebbfb700cf15a30d2194bb4b8b452">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::new_Obs</a></td>
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<p>[KF3 algortihm] The last N GasObservations, used for the Kalman Filter with deconvolution estimation. </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00222">222</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a093ff9b320010448e4bfcc6eb159fb79"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::R_max" ref="a093ff9b320010448e4bfcc6eb159fb79" args="" -->
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<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00190">190</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="ae63c2be90fadb9e51d333d69f35f6870"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::R_min" ref="ae63c2be90fadb9e51d333d69f35f6870" args="" -->
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<p>Limits for normalization of sensor readings. </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00190">190</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="ac57e58da4e89792729e2ed4951fcda1a"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::save_maplog" ref="ac57e58da4e89792729e2ed4951fcda1a" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ac57e58da4e89792729e2ed4951fcda1a">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::save_maplog</a></td>
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<p>[KF3 algortihm] true / 1= Save generated gas map as a log file </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00254">254</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a1d51f588276132c4aaf22c11ea60ce5e"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::sigma" ref="a1d51f588276132c4aaf22c11ea60ce5e" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a1d51f588276132c4aaf22c11ea60ce5e">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::sigma</a></td>
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<p>The sigma of the "Parzen"-kernel Gaussian. </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00182">182</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="ab685097713d17d35a3491d0f62802edb"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::tauD" ref="ab685097713d17d35a3491d0f62802edb" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ab685097713d17d35a3491d0f62802edb">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::tauD</a></td>
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<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00218">218</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a4cff00f61d0d73f396afa81725132c42"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::tauD_concentration" ref="a4cff00f61d0d73f396afa81725132c42" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a4cff00f61d0d73f396afa81725132c42">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::tauD_concentration</a></td>
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<p>[KF3 algortihm] Measured values of K= 1/tauD for different volatile concentrations </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00240">240</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="a1071f1209c02428a3a89643c70d1a018"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::tauD_value" ref="a1071f1209c02428a3a89643c70d1a018" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#a1071f1209c02428a3a89643c70d1a018">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::tauD_value</a></td>
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<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00241">241</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="aac6a9fedccc76c7a4062e74fd5117d6e"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::tauR" ref="aac6a9fedccc76c7a4062e74fd5117d6e" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#aac6a9fedccc76c7a4062e74fd5117d6e">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::tauR</a></td>
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<p>Tau values for the rise (tauR) and decay (tauD) sensor's phases. </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00217">217</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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<a class="anchor" id="ac7d9f7f433953e624b84adccefb185da"></a><!-- doxytag: member="mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::winNoise_size" ref="ac7d9f7f433953e624b84adccefb185da" args="" -->
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<td class="memname">uint16_t <a class="el" href="structmrpt_1_1slam_1_1_c_gas_concentration_grid_map2_d_1_1_t_insertion_options.html#ac7d9f7f433953e624b84adccefb185da">mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions::winNoise_size</a></td>
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<p>[KF3 algortihm] The number of observations used to reduce noise on signal. </p>
<p>Definition at line <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html#l00232">232</a> of file <a class="el" href="_c_gas_concentration_grid_map2_d_8h_source.html">CGasConcentrationGridMap2D.h</a>.</p>
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