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<h1>mrpt::bayes::TKF_options Struct Reference</h1> </div>
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<!-- doxytag: class="mrpt::bayes::TKF_options" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Generic options for the Kalman Filter algorithm in itself. </p>
<p>Definition at line <a class="el" href="_c_kalman_filter_capable_8h_source.html#l00071">71</a> of file <a class="el" href="_c_kalman_filter_capable_8h_source.html">CKalmanFilterCapable.h</a>.</p>
<p><code>#include <<a class="el" href="_c_kalman_filter_capable_8h_source.html">mrpt/bayes/CKalmanFilterCapable.h</a>></code></p>
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Inheritance diagram for mrpt::bayes::TKF_options:<!-- endSectionHeader --></div>
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<div class="center"><img src="structmrpt_1_1bayes_1_1_t_k_f__options__inherit__graph.png" border="0" usemap="#mrpt_1_1bayes_1_1_t_k_f__options_inherit__map" alt="Inheritance graph"/></div>
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<p><a href="structmrpt_1_1bayes_1_1_t_k_f__options-members.html">List of all members.</a></p>
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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_1bayes_1_1_t_k_f__options.html#a8f671abffa15c6b886f857e080d21ef8">TKF_options</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1bayes_1_1_t_k_f__options.html#a77aca2947531c1be8389ea2824032beb">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">This method load the options from a ".ini"-like file or memory-stored string list. <a href="#a77aca2947531c1be8389ea2824032beb"></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_1bayes_1_1_t_k_f__options.html#a796e800336b75baf4ec29dd1b583372c">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">This method must display clearly all the contents of the structure in textual form, sending it to a CStream. <a href="#a796e800336b75baf4ec29dd1b583372c"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1bayes.html#a93ff73c3a01619f01d97fd80dff40d14">TKFMethod</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1bayes_1_1_t_k_f__options.html#a136e211bf1136d8437ad907782c2967d">method</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The method to employ (default: kfEKFNaive) <a href="#a136e211bf1136d8437ad907782c2967d"></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_1bayes_1_1_t_k_f__options.html#a79d277e2e9ac720106e7665883aeb81d">verbose</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true timing and other information will be dumped during the execution (default=false) <a href="#a79d277e2e9ac720106e7665883aeb81d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1bayes_1_1_t_k_f__options.html#a512bf4ff5350affab3d5e94c03b7da1a">IKF_iterations</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of refinement iterations, only for the IKF method. <a href="#a512bf4ff5350affab3d5e94c03b7da1a"></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_1bayes_1_1_t_k_f__options.html#a57b4a351be8de935f8c2c2357b3d8b5c">enable_profiler</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution. <a href="#a57b4a351be8de935f8c2c2357b3d8b5c"></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_1bayes_1_1_t_k_f__options.html#aa628121a80c83a8e7a75363df9536048">use_analytic_transition_jacobian</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">(default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel. <a href="#aa628121a80c83a8e7a75363df9536048"></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_1bayes_1_1_t_k_f__options.html#abe0d010c6e68f8270175362293fbcc17">use_analytic_observation_jacobian</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">(default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel. <a href="#abe0d010c6e68f8270175362293fbcc17"></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_1bayes_1_1_t_k_f__options.html#a00d30cee24c38bfc6ec470a573646675">debug_verify_analytic_jacobians</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">(default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch. <a href="#a00d30cee24c38bfc6ec470a573646675"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1bayes_1_1_t_k_f__options.html#a5239885ee4c9ed75c1c3d6966226cae2">debug_verify_analytic_jacobians_threshold</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">(default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians <a href="#a5239885ee4c9ed75c1c3d6966226cae2"></a><br/></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a8f671abffa15c6b886f857e080d21ef8"></a><!-- doxytag: member="mrpt::bayes::TKF_options::TKF_options" ref="a8f671abffa15c6b886f857e080d21ef8" args="()" -->
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<td class="memname">mrpt::bayes::TKF_options::TKF_options </td>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a796e800336b75baf4ec29dd1b583372c"></a><!-- doxytag: member="mrpt::bayes::TKF_options::dumpToTextStream" ref="a796e800336b75baf4ec29dd1b583372c" args="(CStream &out) const " -->
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<td class="memname">void mrpt::bayes::TKF_options::dumpToTextStream </td>
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<p>This method must display clearly all the contents of the structure in textual form, sending it to a CStream. </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="a77aca2947531c1be8389ea2824032beb"></a><!-- doxytag: member="mrpt::bayes::TKF_options::loadFromConfigFile" ref="a77aca2947531c1be8389ea2824032beb" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::bayes::TKF_options::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>This method load the options from a ".ini"-like file or memory-stored string list. </p>
<p>Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" <a href="file:">file:</a> </p>
<div class="fragment"><pre class="fragment"> [section]
resolution=0.10 ; blah blah...
modeSelection=1 ; 0=blah, 1=blah,...
</pre></div><dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a1ce8e0f241fe85f78095e23d37b2b635" title="Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile ob...">loadFromConfigFileName</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a913c3433af4564cedeb25e24ace1cf28" title="This method saves the options to a ".ini"-like file or memory-stored string list...">saveToConfigFile</a> </dd></dl>
<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="a00d30cee24c38bfc6ec470a573646675"></a><!-- doxytag: member="mrpt::bayes::TKF_options::debug_verify_analytic_jacobians" ref="a00d30cee24c38bfc6ec470a573646675" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1bayes_1_1_t_k_f__options.html#a00d30cee24c38bfc6ec470a573646675">mrpt::bayes::TKF_options::debug_verify_analytic_jacobians</a></td>
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<p>(default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch. </p>
<p>Definition at line <a class="el" href="_c_kalman_filter_capable_8h_source.html#l00088">88</a> of file <a class="el" href="_c_kalman_filter_capable_8h_source.html">CKalmanFilterCapable.h</a>.</p>
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<a class="anchor" id="a5239885ee4c9ed75c1c3d6966226cae2"></a><!-- doxytag: member="mrpt::bayes::TKF_options::debug_verify_analytic_jacobians_threshold" ref="a5239885ee4c9ed75c1c3d6966226cae2" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1bayes_1_1_t_k_f__options.html#a5239885ee4c9ed75c1c3d6966226cae2">mrpt::bayes::TKF_options::debug_verify_analytic_jacobians_threshold</a></td>
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<p>(default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians </p>
<p>Definition at line <a class="el" href="_c_kalman_filter_capable_8h_source.html#l00089">89</a> of file <a class="el" href="_c_kalman_filter_capable_8h_source.html">CKalmanFilterCapable.h</a>.</p>
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<a class="anchor" id="a57b4a351be8de935f8c2c2357b3d8b5c"></a><!-- doxytag: member="mrpt::bayes::TKF_options::enable_profiler" ref="a57b4a351be8de935f8c2c2357b3d8b5c" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1bayes_1_1_t_k_f__options.html#a57b4a351be8de935f8c2c2357b3d8b5c">mrpt::bayes::TKF_options::enable_profiler</a></td>
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<p>If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution. </p>
<p>Definition at line <a class="el" href="_c_kalman_filter_capable_8h_source.html#l00085">85</a> of file <a class="el" href="_c_kalman_filter_capable_8h_source.html">CKalmanFilterCapable.h</a>.</p>
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<a class="anchor" id="a512bf4ff5350affab3d5e94c03b7da1a"></a><!-- doxytag: member="mrpt::bayes::TKF_options::IKF_iterations" ref="a512bf4ff5350affab3d5e94c03b7da1a" args="" -->
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<p>Number of refinement iterations, only for the IKF method. </p>
<p>Definition at line <a class="el" href="_c_kalman_filter_capable_8h_source.html#l00084">84</a> of file <a class="el" href="_c_kalman_filter_capable_8h_source.html">CKalmanFilterCapable.h</a>.</p>
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<a class="anchor" id="a136e211bf1136d8437ad907782c2967d"></a><!-- doxytag: member="mrpt::bayes::TKF_options::method" ref="a136e211bf1136d8437ad907782c2967d" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt_1_1bayes.html#a93ff73c3a01619f01d97fd80dff40d14">TKFMethod</a> <a class="el" href="structmrpt_1_1bayes_1_1_t_k_f__options.html#a136e211bf1136d8437ad907782c2967d">mrpt::bayes::TKF_options::method</a></td>
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<p>The method to employ (default: kfEKFNaive) </p>
<p>Definition at line <a class="el" href="_c_kalman_filter_capable_8h_source.html#l00082">82</a> of file <a class="el" href="_c_kalman_filter_capable_8h_source.html">CKalmanFilterCapable.h</a>.</p>
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<p>(default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel. </p>
<p>Definition at line <a class="el" href="_c_kalman_filter_capable_8h_source.html#l00087">87</a> of file <a class="el" href="_c_kalman_filter_capable_8h_source.html">CKalmanFilterCapable.h</a>.</p>
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<p>(default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel. </p>
<p>Definition at line <a class="el" href="_c_kalman_filter_capable_8h_source.html#l00086">86</a> of file <a class="el" href="_c_kalman_filter_capable_8h_source.html">CKalmanFilterCapable.h</a>.</p>
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<td class="memname">bool <a class="el" href="structmrpt_1_1bayes_1_1_t_k_f__options.html#a79d277e2e9ac720106e7665883aeb81d">mrpt::bayes::TKF_options::verbose</a></td>
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<p>If set to true timing and other information will be dumped during the execution (default=false) </p>
<p>Definition at line <a class="el" href="_c_kalman_filter_capable_8h_source.html#l00083">83</a> of file <a class="el" href="_c_kalman_filter_capable_8h_source.html">CKalmanFilterCapable.h</a>.</p>
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