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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_multi_metric_map_p_d_f.html">CMultiMetricMapPDF</a>::<a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html">TPredictionParams</a>
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<h1>mrpt::slam::CMultiMetricMapPDF::TPredictionParams Struct Reference</h1><!-- doxytag: class="mrpt::slam::CMultiMetricMapPDF::TPredictionParams" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" -->
<p>The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">mrpt/slam/CMultiMetricMapPDF.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CMultiMetricMapPDF::TPredictionParams:</div>
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<div class="center"><img src="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params_inherit__map" alt="Inheritance graph"/></div>
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Collaboration diagram for mrpt::slam::CMultiMetricMapPDF::TPredictionParams:</div>
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<p><a href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params-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_multi_metric_map_p_d_f_1_1_t_prediction_params.html#aa132be2517f82a14c521c95dd5bd6e3d">TPredictionParams</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default settings method. <a href="#aa132be2517f82a14c521c95dd5bd6e3d"></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_multi_metric_map_p_d_f_1_1_t_prediction_params.html#a882f0d24b30d9e5c10e64c47e39a03c0">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="#a882f0d24b30d9e5c10e64c47e39a03c0"></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_multi_metric_map_p_d_f_1_1_t_prediction_params.html#a4a4f7a0dd8eb956bae088ec0e2ad264e">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="#a4a4f7a0dd8eb956bae088ec0e2ad264e"></a><br/></td></tr>
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html#a13284bda04d15caab4e40fc52121c216">pfOptimalProposal_mapSelection</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal") Select the map on which to calculate the optimal proposal distribution. <a href="#a13284bda04d15caab4e40fc52121c216"></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_multi_metric_map_p_d_f_1_1_t_prediction_params.html#aef437a4d66bf83acba12c1d2d0aa477c">ICPGlobalAlign_MinQuality</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum quality ratio [0,1] of the alignment such as it will be accepted. <a href="#aef437a4d66bf83acba12c1d2d0aa477c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html">COccupancyGridMap2D::TLikelihoodOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html#a0c3cbf8b7029f4ab53ae10ddb873acce">update_gridMapLikelihoodOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[update stage] If the likelihood is computed through the occupancy grid map, then this structure is passed to the map when updating the particles weights in the update stage. <a href="#a0c3cbf8b7029f4ab53ae10ddb873acce"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_t_k_l_d_params.html">TKLDParams</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html#ab3e3a662e5ba7ccdf0553dbb5abd1bb3">KLD_params</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html">CICP::TConfigParams</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html#aefbff11417cf3ec52be038276c892dfb">icp_params</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">ICP parameters, used only when "PF_algorithm=2" in the particle filter. <a href="#aefbff11417cf3ec52be038276c892dfb"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html#a0b464ec72adbfc8a9aea3cf4aa6bdf9e" title="Performs the prediction stage of the Particle Filter.">prediction_and_update</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00139">139</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="aa132be2517f82a14c521c95dd5bd6e3d"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::TPredictionParams::TPredictionParams" ref="aa132be2517f82a14c521c95dd5bd6e3d" args="()" -->
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<td class="memname">mrpt::slam::CMultiMetricMapPDF::TPredictionParams::TPredictionParams </td>
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<p>Default settings method. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a4a4f7a0dd8eb956bae088ec0e2ad264e"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream" ref="a4a4f7a0dd8eb956bae088ec0e2ad264e" args="(CStream &out) const " -->
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<td class="memname">void mrpt::slam::CMultiMetricMapPDF::TPredictionParams::dumpToTextStream </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="a882f0d24b30d9e5c10e64c47e39a03c0"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::TPredictionParams::loadFromConfigFile" ref="a882f0d24b30d9e5c10e64c47e39a03c0" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::slam::CMultiMetricMapPDF::TPredictionParams::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>
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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="aefbff11417cf3ec52be038276c892dfb"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::TPredictionParams::icp_params" ref="aefbff11417cf3ec52be038276c892dfb" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html">CICP::TConfigParams</a> <a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html#aefbff11417cf3ec52be038276c892dfb">mrpt::slam::CMultiMetricMapPDF::TPredictionParams::icp_params</a></td>
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<p>ICP parameters, used only when "PF_algorithm=2" in the particle filter. </p>
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00177">177</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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<a class="anchor" id="aef437a4d66bf83acba12c1d2d0aa477c"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::TPredictionParams::ICPGlobalAlign_MinQuality" ref="aef437a4d66bf83acba12c1d2d0aa477c" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html#aef437a4d66bf83acba12c1d2d0aa477c">mrpt::slam::CMultiMetricMapPDF::TPredictionParams::ICPGlobalAlign_MinQuality</a></td>
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<p>[prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum quality ratio [0,1] of the alignment such as it will be accepted. </p>
<p>Otherwise, raw odometry is used for those bad cases (default=0.7). </p>
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00169">169</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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<a class="anchor" id="ab3e3a662e5ba7ccdf0553dbb5abd1bb3"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::TPredictionParams::KLD_params" ref="ab3e3a662e5ba7ccdf0553dbb5abd1bb3" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_t_k_l_d_params.html">TKLDParams</a> <a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html#ab3e3a662e5ba7ccdf0553dbb5abd1bb3">mrpt::slam::CMultiMetricMapPDF::TPredictionParams::KLD_params</a></td>
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<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00175">175</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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<a class="anchor" id="a13284bda04d15caab4e40fc52121c216"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::TPredictionParams::pfOptimalProposal_mapSelection" ref="a13284bda04d15caab4e40fc52121c216" args="" -->
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<td class="memname">int <a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html#a13284bda04d15caab4e40fc52121c216">mrpt::slam::CMultiMetricMapPDF::TPredictionParams::pfOptimalProposal_mapSelection</a></td>
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<p>[pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal") Select the map on which to calculate the optimal proposal distribution. </p>
<p>Values: 0: Gridmap -> Uses Scan matching-based approximation (based on Stachniss' work) 1: Landmarks -> Uses matching to approximate optimal 2: Beacons -> Used for exact optimal proposal in RO-SLAM 3: Pointsmap -> Uses Scan matching-based approximation with a map of points (based on Stachniss' work) Default = 0 </p>
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00164">164</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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<a class="anchor" id="a0c3cbf8b7029f4ab53ae10ddb873acce"></a><!-- doxytag: member="mrpt::slam::CMultiMetricMapPDF::TPredictionParams::update_gridMapLikelihoodOptions" ref="a0c3cbf8b7029f4ab53ae10ddb873acce" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html">COccupancyGridMap2D::TLikelihoodOptions</a> <a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_p_d_f_1_1_t_prediction_params.html#a0c3cbf8b7029f4ab53ae10ddb873acce">mrpt::slam::CMultiMetricMapPDF::TPredictionParams::update_gridMapLikelihoodOptions</a></td>
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<p>[update stage] If the likelihood is computed through the occupancy grid map, then this structure is passed to the map when updating the particles weights in the update stage. </p>
<p>Definition at line <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html#l00173">173</a> of file <a class="el" href="_c_multi_metric_map_p_d_f_8h_source.html">CMultiMetricMapPDF.h</a>.</p>
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