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<title>mrpt::bayes::CParticleFilter::TParticleFilterOptions Struct Reference</title>
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<li class="navelem"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html">CParticleFilter</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">TParticleFilterOptions</a> </li>
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<div class="title">mrpt::bayes::CParticleFilter::TParticleFilterOptions Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::bayes::CParticleFilter::TParticleFilterOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The configuration of a particle filter. </p>
</div>
<p><code>#include <<a class="el" href="_c_particle_filter_8h_source.html">mrpt/bayes/CParticleFilter.h</a>></code></p>
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Inheritance diagram for mrpt::bayes::CParticleFilter::TParticleFilterOptions:</div>
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<div class="center"><img src="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options__inherit__graph.png" border="0" usemap="#mrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options_inherit__map" id="mrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options_inherit__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 to configuratio..." alt="" coords="65,5,260,32"/></map>
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<p><a href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
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_c_particle_filter_1_1_t_particle_filter_options.html#a58bf2810a802a91807be9d30850af0eb">TParticleFilterOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initilization of default parameters. <a href="#a58bf2810a802a91807be9d30850af0eb"></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_c_particle_filter_1_1_t_particle_filter_options.html#a9b6b7b4be462c9e0b81f99c32f191fd9">loadFromConfigFile</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &source, const <a class="el" href="classstd_1_1string.html">std::string</a> &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 to configuratio...">mrpt::utils::CLoadableOptions</a>. <a href="#a9b6b7b4be462c9e0b81f99c32f191fd9"></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_c_particle_filter_1_1_t_particle_filter_options.html#af15daf2f49c961222009fd28e59a6db2">dumpToTextStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::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 to configuratio...">mrpt::utils::CLoadableOptions</a>. <a href="#af15daf2f49c961222009fd28e59a6db2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a1ce8e0f241fe85f78095e23d37b2b635">loadFromConfigFileName</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &config_file, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to load the file. <a href="#a1ce8e0f241fe85f78095e23d37b2b635"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a913c3433af4564cedeb25e24ace1cf28">saveToConfigFile</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &source, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method saves the options to a ".ini"-like file or memory-stored string list. <a href="#a913c3433af4564cedeb25e24ace1cf28"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#aa059b0160ed9881c284bcea9a42c51f8">saveToConfigFileName</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &config_file, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Behaves like saveToConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to save the file. <a href="#aa059b0160ed9881c284bcea9a42c51f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a37c6d8d52b1d9bdacaf073e6910bdd7f">dumpToConsole</a> () 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 <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a37c6d8d52b1d9bdacaf073e6910bdd7f"></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">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#ae1373ee71fb2a0131f448042291d85f0">adaptiveSampleSize</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A flag that indicates whether the <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html" title="This virtual class defines the interface that any particles based PDF class must implement in order t...">CParticleFilterCapable</a> object should perform adative sample size (default=false). <a href="#ae1373ee71fb2a0131f448042291d85f0"></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_c_particle_filter_1_1_t_particle_filter_options.html#ac905494cf568dd8291428306661acaf2">BETA</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5) <a href="#ac905494cf568dd8291428306661acaf2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#af476e1fb9a9106d4751368bb30ef516a">sampleSize</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1) <a href="#af476e1fb9a9106d4751368bb30ef516a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#a4054623753f30e03e99e94e85c3ff84d">pfAuxFilterOptimal_MaximumSearchSamples</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal" (and in "CParticleFilter::pfAuxiliaryPFStandard" only if pfAuxFilterStandard_FirstStageWeightsMonteCarlo = true) the number of samples for searching the maximum likelihood value and also to estimate the "first stage weights" (see papers!) (default=100) <a href="#a4054623753f30e03e99e94e85c3ff84d"></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_c_particle_filter_1_1_t_particle_filter_options.html#a6ad1667bac7faa62a2376c83527c0414">powFactor</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects). <a href="#a6ad1667bac7faa62a2376c83527c0414"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#ab53101e2ac73154a4044a9562d20acb7">TParticleFilterAlgorithm</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#a9735fe24fc688a65092fb0fe1aee792f">PF_algorithm</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilities. <a href="#a9735fe24fc688a65092fb0fe1aee792f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154c">TParticleResamplingAlgorithm</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#a245527d93f30ada0f61bc1a2663a31d7">resamplingMethod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The resampling algorithm to use (default=prMultinomial). <a href="#a245527d93f30ada0f61bc1a2663a31d7"></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_c_particle_filter_1_1_t_particle_filter_options.html#a8613b2d409e3a78de42dba07f6cdcec3">max_loglikelihood_dyn_range</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded. <a href="#a8613b2d409e3a78de42dba07f6cdcec3"></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_c_particle_filter_1_1_t_particle_filter_options.html#a16a5d97f9246477c32e742cc23e20a74">pfAuxFilterStandard_FirstStageWeightsMonteCarlo</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Only for PF_algorithm==pfAuxiliaryPFStandard: If false, the APF will predict the first stage weights just at the mean of the prior of the next time step. <a href="#a16a5d97f9246477c32e742cc23e20a74"></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_c_particle_filter_1_1_t_particle_filter_options.html#a33e80606a59d313f3338f71367010957">verbose</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enable extra messages for each PF iteration (Default=false) <a href="#a33e80606a59d313f3338f71367010957"></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_c_particle_filter_1_1_t_particle_filter_options.html#a99406b39b2963dce127a86634f13871f">pfAuxFilterOptimal_MLE</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">(Default=false) In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", if set to true, do not perform rejection sampling, but just the most-likely (ML) particle found in the preliminary weight-determination stage. <a href="#a99406b39b2963dce127a86634f13871f"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-static-methods"></a>
Static Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a886e9903515fdb12d4f052a7fd582bb6">dumpVar_int</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, int v)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. <a href="#a886e9903515fdb12d4f052a7fd582bb6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a18862f2d04fc18dd2c2662331156189f">dumpVar_float</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, float v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ac4ee21d250d3b3574790ceac343a27a9">dumpVar_double</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, double v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a63837b199914f55d8f0bd950f598fe14">dumpVar_bool</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, bool v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a60b1c6599953f1d593e6a7b0421e5a77">dumpVar_string</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, const <a class="el" href="classstd_1_1string.html">std::string</a> &v)</td></tr>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a58bf2810a802a91807be9d30850af0eb"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::TParticleFilterOptions" ref="a58bf2810a802a91807be9d30850af0eb" args="()" -->
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<td class="memname">mrpt::bayes::CParticleFilter::TParticleFilterOptions::TParticleFilterOptions </td>
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<p>Initilization of default parameters. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpToConsole" ref="a37c6d8d52b1d9bdacaf073e6910bdd7f" args="() const " -->
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<td class="memname">void mrpt::utils::CLoadableOptions::dumpToConsole </td>
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<p>This method must display clearly all the contents of the structure in textual form, sending it to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
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<a class="anchor" id="af15daf2f49c961222009fd28e59a6db2"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpToTextStream" ref="af15daf2f49c961222009fd28e59a6db2" args="(mrpt::utils::CStream &out) const " -->
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<td class="memname">void mrpt::bayes::CParticleFilter::TParticleFilterOptions::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 to configuratio...">mrpt::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="a63837b199914f55d8f0bd950f598fe14"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpVar_bool" ref="a63837b199914f55d8f0bd950f598fe14" args="(CStream &out, const char *varName, bool v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_bool </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
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<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpVar_double" ref="ac4ee21d250d3b3574790ceac343a27a9" args="(CStream &out, const char *varName, double v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_double </td>
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<a class="anchor" id="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpVar_float" ref="a18862f2d04fc18dd2c2662331156189f" args="(CStream &out, const char *varName, float v)" -->
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<a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpVar_int" ref="a886e9903515fdb12d4f052a7fd582bb6" args="(CStream &out, const char *varName, int v)" -->
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<p>Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. </p>
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<a class="anchor" id="a60b1c6599953f1d593e6a7b0421e5a77"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::dumpVar_string" ref="a60b1c6599953f1d593e6a7b0421e5a77" args="(CStream &out, const char *varName, const std::string &v)" -->
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<a class="anchor" id="a9b6b7b4be462c9e0b81f99c32f191fd9"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile" ref="a9b6b7b4be462c9e0b81f99c32f191fd9" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFile </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 to configuratio...">mrpt::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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<a class="anchor" id="a1ce8e0f241fe85f78095e23d37b2b635"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::loadFromConfigFileName" ref="a1ce8e0f241fe85f78095e23d37b2b635" args="(const std::string &config_file, const std::string &section)" -->
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<td class="memname">void mrpt::utils::CLoadableOptions::loadFromConfigFileName </td>
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<p>Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to load the file. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2" title="This method load the options from a ".ini"-like file or memory-stored string list.">loadFromConfigFile</a> </dd></dl>
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<a class="anchor" id="a913c3433af4564cedeb25e24ace1cf28"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::saveToConfigFile" ref="a913c3433af4564cedeb25e24ace1cf28" args="(mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">virtual void mrpt::utils::CLoadableOptions::saveToConfigFile </td>
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<p>This method saves the options to a ".ini"-like file or memory-stored string list. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2" title="This method load the options from a ".ini"-like file or memory-stored string list.">loadFromConfigFile</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#aa059b0160ed9881c284bcea9a42c51f8" title="Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile obje...">saveToConfigFileName</a> </dd></dl>
<p>Reimplemented in <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html#ab41c594d4e248ace4a2b6c7e4d082a1c">mrpt::vision::TMultiResDescOptions</a>, and <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html#a0ddc0e48338f1c420ed1e9a34d106865">mrpt::vision::TMultiResDescMatchOptions</a>.</p>
<p>Definition at line <a class="el" href="_c_loadable_options_8h_source.html#l00087">87</a> of file <a class="el" href="_c_loadable_options_8h_source.html">CLoadableOptions.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>.</p>
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<a class="anchor" id="aa059b0160ed9881c284bcea9a42c51f8"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" -->
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<p>Behaves like saveToConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to save the file. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><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>, <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> </dd></dl>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ae1373ee71fb2a0131f448042291d85f0"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize" ref="ae1373ee71fb2a0131f448042291d85f0" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#ae1373ee71fb2a0131f448042291d85f0">mrpt::bayes::CParticleFilter::TParticleFilterOptions::adaptiveSampleSize</a></td>
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<p>A flag that indicates whether the <a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter_capable.html" title="This virtual class defines the interface that any particles based PDF class must implement in order t...">CParticleFilterCapable</a> object should perform adative sample size (default=false). </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00122">122</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
<p>Referenced by <a class="el" href="_p_f__implementations_8h_source.html#l00172">mrpt::slam::PF_implementation::PF_SLAM_implementation_pfStandardProposal()</a>, and <a class="el" href="_p_f__implementations_8h_source.html#l00518">mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()</a>.</p>
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<a class="anchor" id="ac905494cf568dd8291428306661acaf2"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::BETA" ref="ac905494cf568dd8291428306661acaf2" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#ac905494cf568dd8291428306661acaf2">mrpt::bayes::CParticleFilter::TParticleFilterOptions::BETA</a></td>
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<p>The resampling of particles will be performed when ESS (in range [0,1]) < BETA (default is 0.5) </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00126">126</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
<p>Referenced by <a class="el" href="_p_f__implementations_8h_source.html#l00518">mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()</a>.</p>
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<a class="anchor" id="a8613b2d409e3a78de42dba07f6cdcec3"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::max_loglikelihood_dyn_range" ref="a8613b2d409e3a78de42dba07f6cdcec3" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#a8613b2d409e3a78de42dba07f6cdcec3">mrpt::bayes::CParticleFilter::TParticleFilterOptions::max_loglikelihood_dyn_range</a></td>
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<p>Only for PF_algorithm=pfAuxiliaryPFOptimal: If a given particle has a max_likelihood (from the a-priori estimate) below the maximum from all the samples - max_loglikelihood_dyn_range, then the particle is directly discarded. </p>
<p>This is done to assure that the rejection sampling doesn't get stuck in an infinite loop trying to get an acceptable sample. Default = 15 (in logarithmic likelihood) </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00153">153</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
<p>Referenced by <a class="el" href="_p_f__implementations_8h_source.html#l00859">mrpt::slam::PF_implementation::PF_SLAM_aux_perform_one_rejection_sampling_step()</a>.</p>
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<a class="anchor" id="a9735fe24fc688a65092fb0fe1aee792f"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm" ref="a9735fe24fc688a65092fb0fe1aee792f" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#ab53101e2ac73154a4044a9562d20acb7">TParticleFilterAlgorithm</a> <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#a9735fe24fc688a65092fb0fe1aee792f">mrpt::bayes::CParticleFilter::TParticleFilterOptions::PF_algorithm</a></td>
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<p>The PF algorithm to use (default=pfStandardProposal) See TParticleFilterAlgorithm for the posibilities. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00142">142</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
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<a class="anchor" id="a4054623753f30e03e99e94e85c3ff84d"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MaximumSearchSamples" ref="a4054623753f30e03e99e94e85c3ff84d" args="" -->
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<td class="memname">unsigned int <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#a4054623753f30e03e99e94e85c3ff84d">mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MaximumSearchSamples</a></td>
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<p>In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal" (and in "CParticleFilter::pfAuxiliaryPFStandard" only if pfAuxFilterStandard_FirstStageWeightsMonteCarlo = true) the number of samples for searching the maximum likelihood value and also to estimate the "first stage weights" (see papers!) (default=100) </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00134">134</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
<p>Referenced by <a class="el" href="_p_f__implementations_8h_source.html#l00354">mrpt::slam::PF_implementation::PF_SLAM_particlesEvaluator_AuxPFOptimal()</a>, and <a class="el" href="_p_f__implementations_8h_source.html#l00427">mrpt::slam::PF_implementation::PF_SLAM_particlesEvaluator_AuxPFStandard()</a>.</p>
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<a class="anchor" id="a99406b39b2963dce127a86634f13871f"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MLE" ref="a99406b39b2963dce127a86634f13871f" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#a99406b39b2963dce127a86634f13871f">mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterOptimal_MLE</a></td>
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<p>(Default=false) In the algorithm "CParticleFilter::pfAuxiliaryPFOptimal", if set to true, do not perform rejection sampling, but just the most-likely (ML) particle found in the preliminary weight-determination stage. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00166">166</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
<p>Referenced by <a class="el" href="_p_f__implementations_8h_source.html#l00354">mrpt::slam::PF_implementation::PF_SLAM_particlesEvaluator_AuxPFOptimal()</a>, <a class="el" href="_p_f__implementations_8h_source.html#l00427">mrpt::slam::PF_implementation::PF_SLAM_particlesEvaluator_AuxPFStandard()</a>, <a class="el" href="_p_f__implementations_8h_source.html#l00518">mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()</a>, and <a class="el" href="_p_f__implementations_8h_source.html#l00859">mrpt::slam::PF_implementation::PF_SLAM_aux_perform_one_rejection_sampling_step()</a>.</p>
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<a class="anchor" id="a16a5d97f9246477c32e742cc23e20a74"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterStandard_FirstStageWeightsMonteCarlo" ref="a16a5d97f9246477c32e742cc23e20a74" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#a16a5d97f9246477c32e742cc23e20a74">mrpt::bayes::CParticleFilter::TParticleFilterOptions::pfAuxFilterStandard_FirstStageWeightsMonteCarlo</a></td>
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<p>Only for PF_algorithm==pfAuxiliaryPFStandard: If false, the APF will predict the first stage weights just at the mean of the prior of the next time step. </p>
<p>If true, these weights will be estimated as described in the papers for the "pfAuxiliaryPFOptimal" method, i.e. through a monte carlo simulation. In that case, "pfAuxFilterOptimal_MaximumSearchSamples" is the number of MC samples used. </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00160">160</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
<p>Referenced by <a class="el" href="_p_f__implementations_8h_source.html#l00427">mrpt::slam::PF_implementation::PF_SLAM_particlesEvaluator_AuxPFStandard()</a>.</p>
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<td class="memname">double <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#a6ad1667bac7faa62a2376c83527c0414">mrpt::bayes::CParticleFilter::TParticleFilterOptions::powFactor</a></td>
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<p>An optional step to "smooth" dramatic changes in the observation model to affect the variance of the particle weights, eg weight*=likelihood^powFactor (default=1 = no effects). </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00138">138</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
<p>Referenced by <a class="el" href="_p_f__implementations_8h_source.html#l00172">mrpt::slam::PF_implementation::PF_SLAM_implementation_pfStandardProposal()</a>, and <a class="el" href="_p_f__implementations_8h_source.html#l00859">mrpt::slam::PF_implementation::PF_SLAM_aux_perform_one_rejection_sampling_step()</a>.</p>
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<a class="anchor" id="a245527d93f30ada0f61bc1a2663a31d7"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod" ref="a245527d93f30ada0f61bc1a2663a31d7" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1bayes_1_1_c_particle_filter.html#a5a2e5c42fba6719b5f2f4b8fa1f4154c">TParticleResamplingAlgorithm</a> <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#a245527d93f30ada0f61bc1a2663a31d7">mrpt::bayes::CParticleFilter::TParticleFilterOptions::resamplingMethod</a></td>
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<p>The resampling algorithm to use (default=prMultinomial). </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00146">146</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
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<a class="anchor" id="af476e1fb9a9106d4751368bb30ef516a"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::sampleSize" ref="af476e1fb9a9106d4751368bb30ef516a" args="" -->
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<td class="memname">unsigned int <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#af476e1fb9a9106d4751368bb30ef516a">mrpt::bayes::CParticleFilter::TParticleFilterOptions::sampleSize</a></td>
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<p>The initial number of particles in the filter (it can change only if adaptiveSampleSize=true) (default=1) </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00130">130</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
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<a class="anchor" id="a33e80606a59d313f3338f71367010957"></a><!-- doxytag: member="mrpt::bayes::CParticleFilter::TParticleFilterOptions::verbose" ref="a33e80606a59d313f3338f71367010957" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html#a33e80606a59d313f3338f71367010957">mrpt::bayes::CParticleFilter::TParticleFilterOptions::verbose</a></td>
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<p>Enable extra messages for each PF iteration (Default=false) </p>
<p>Definition at line <a class="el" href="_c_particle_filter_8h_source.html#l00162">162</a> of file <a class="el" href="_c_particle_filter_8h_source.html">CParticleFilter.h</a>.</p>
<p>Referenced by <a class="el" href="_p_f__implementations_8h_source.html#l00518">mrpt::slam::PF_implementation::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal()</a>, and <a class="el" href="_p_f__implementations_8h_source.html#l00859">mrpt::slam::PF_implementation::PF_SLAM_aux_perform_one_rejection_sampling_step()</a>.</p>
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