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<title>mrpt::slam::CBeaconMap::TInsertionOptions Struct Reference</title>
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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_beacon_map.html">CBeaconMap</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html">TInsertionOptions</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::slam::CBeaconMap::TInsertionOptions Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CBeaconMap::TInsertionOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This struct contains data for choosing the method by which new beacons are inserted in the map. </p>
</div>
<p><code>#include <<a class="el" href="_c_beacon_map_8h_source.html">mrpt/slam/CBeaconMap.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CBeaconMap::TInsertionOptions:</div>
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<div class="center"><img src="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options_inherit__map" id="mrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_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="48,5,243,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_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_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a212d87c5f08915a517738cd547542ff1">TInsertionOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initilization of default parameters. <a href="#a212d87c5f08915a517738cd547542ff1"></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_beacon_map_1_1_t_insertion_options.html#aaf885c30439059bca43d02672952c86f">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...">utils::CLoadableOptions</a>. <a href="#aaf885c30439059bca43d02672952c86f"></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_beacon_map_1_1_t_insertion_options.html#abf79474665daa3ecbbf2f25aaed690f9">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 to configuratio...">utils::CLoadableOptions</a>. <a href="#abf79474665daa3ecbbf2f25aaed690f9"></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_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a6df3fadabd06aae210fd9b1d8a9f7482">insertAsMonteCarlo</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">mrpt::slam::CBeacon</a>). <a href="#a6df3fadabd06aae210fd9b1d8a9f7482"></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_beacon_map_1_1_t_insertion_options.html#a8e2a3371322093012d053ac3499009c3">maxElevation_deg</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90. <a href="#a8e2a3371322093012d053ac3499009c3"></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_beacon_map_1_1_t_insertion_options.html#a3a48b30e23ee394f19b641350e6cacf3">minElevation_deg</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a3ca5fea29c2e22daaeed2b5a89242d47">MC_numSamplesPerMeter</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of particles per meter of range, i.e. <a href="#a3ca5fea29c2e22daaeed2b5a89242d47"></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_beacon_map_1_1_t_insertion_options.html#a15cb5372ee52b4a534f1d8aca9c77019">MC_maxStdToGauss</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4). <a href="#a15cb5372ee52b4a534f1d8aca9c77019"></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_beacon_map_1_1_t_insertion_options.html#afa595b083cd88b6fa6143c40d231d37b">MC_thresholdNegligible</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5). <a href="#afa595b083cd88b6fa6143c40d231d37b"></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_beacon_map_1_1_t_insertion_options.html#ae4fc3bf89d47bf75015377d47d18f6a3">MC_performResampling</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion. <a href="#ae4fc3bf89d47bf75015377d47d18f6a3"></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_beacon_map_1_1_t_insertion_options.html#aa87c256ea28c25cc629395aa2549e87a">MC_afterResamplingNoise</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The std.dev. <a href="#aa87c256ea28c25cc629395aa2549e87a"></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_beacon_map_1_1_t_insertion_options.html#a26bf0db41d250e0bd06e44cc83afd6a5">SOG_thresholdNegligible</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20). <a href="#a26bf0db41d250e0bd06e44cc83afd6a5"></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_beacon_map_1_1_t_insertion_options.html#a025b618c597c30b2f2ccccd9adfbcdb2">SOG_maxDistBetweenGaussians</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A parameter for initializing 2D/3D SOGs. <a href="#a025b618c597c30b2f2ccccd9adfbcdb2"></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_beacon_map_1_1_t_insertion_options.html#a2481fb8b8f4f2862eaafb1d727ecb31c">SOG_separationConstant</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constant used to compute the std. <a href="#a2481fb8b8f4f2862eaafb1d727ecb31c"></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="a212d87c5f08915a517738cd547542ff1"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::TInsertionOptions" ref="a212d87c5f08915a517738cd547542ff1" args="()" -->
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<td class="memname">mrpt::slam::CBeaconMap::TInsertionOptions::TInsertionOptions </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::slam::CBeaconMap::TInsertionOptions::dumpToConsole" ref="a37c6d8d52b1d9bdacaf073e6910bdd7f" args="() const " -->
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<td class="memname">void mrpt::utils::CLoadableOptions::dumpToConsole </td>
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<td> const<code> [inherited]</code></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="abf79474665daa3ecbbf2f25aaed690f9"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::dumpToTextStream" ref="abf79474665daa3ecbbf2f25aaed690f9" args="(CStream &out) const " -->
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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...">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::slam::CBeaconMap::TInsertionOptions::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>
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<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></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::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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<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::dumpVar_float" ref="a18862f2d04fc18dd2c2662331156189f" args="(CStream &out, const char *varName, float v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_float </td>
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<a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::dumpVar_int" ref="a886e9903515fdb12d4f052a7fd582bb6" args="(CStream &out, const char *varName, int v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_int </td>
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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::slam::CBeaconMap::TInsertionOptions::dumpVar_string" ref="a60b1c6599953f1d593e6a7b0421e5a77" args="(CStream &out, const char *varName, const std::string &v)" -->
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<a class="anchor" id="aaf885c30439059bca43d02672952c86f"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::loadFromConfigFile" ref="aaf885c30439059bca43d02672952c86f" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::slam::CBeaconMap::TInsertionOptions::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...">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::slam::CBeaconMap::TInsertionOptions::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::slam::CBeaconMap::TInsertionOptions::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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<td class="paramtype"><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 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::slam::CBeaconMap::TInsertionOptions::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" -->
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<td class="memname">void mrpt::utils::CLoadableOptions::saveToConfigFileName </td>
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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="a6df3fadabd06aae210fd9b1d8a9f7482"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::insertAsMonteCarlo" ref="a6df3fadabd06aae210fd9b1d8a9f7482" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a6df3fadabd06aae210fd9b1d8a9f7482">mrpt::slam::CBeaconMap::TInsertionOptions::insertAsMonteCarlo</a></td>
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<p>Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see <a class="el" href="classmrpt_1_1slam_1_1_c_beacon.html" title="The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions...">mrpt::slam::CBeacon</a>). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#ae4fc3bf89d47bf75015377d47d18f6a3" title="If set to false (default), the samples will be generated the first time a beacon is observed...">MC_performResampling</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_beacon_map_8h_source.html#l00197">197</a> of file <a class="el" href="_c_beacon_map_8h_source.html">CBeaconMap.h</a>.</p>
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<a class="anchor" id="a8e2a3371322093012d053ac3499009c3"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::maxElevation_deg" ref="a8e2a3371322093012d053ac3499009c3" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a8e2a3371322093012d053ac3499009c3">mrpt::slam::CBeaconMap::TInsertionOptions::maxElevation_deg</a></td>
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<p>Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90. </p>
<p>Definition at line <a class="el" href="_c_beacon_map_8h_source.html#l00201">201</a> of file <a class="el" href="_c_beacon_map_8h_source.html">CBeaconMap.h</a>.</p>
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<a class="anchor" id="aa87c256ea28c25cc629395aa2549e87a"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::MC_afterResamplingNoise" ref="aa87c256ea28c25cc629395aa2549e87a" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#aa87c256ea28c25cc629395aa2549e87a">mrpt::slam::CBeaconMap::TInsertionOptions::MC_afterResamplingNoise</a></td>
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<p>The std.dev. </p>
<p>of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true. </p>
<p>Definition at line <a class="el" href="_c_beacon_map_8h_source.html#l00221">221</a> of file <a class="el" href="_c_beacon_map_8h_source.html">CBeaconMap.h</a>.</p>
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<a class="anchor" id="a15cb5372ee52b4a534f1d8aca9c77019"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::MC_maxStdToGauss" ref="a15cb5372ee52b4a534f1d8aca9c77019" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a15cb5372ee52b4a534f1d8aca9c77019">mrpt::slam::CBeaconMap::TInsertionOptions::MC_maxStdToGauss</a></td>
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<p>The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4). </p>
<p>Definition at line <a class="el" href="_c_beacon_map_8h_source.html#l00209">209</a> of file <a class="el" href="_c_beacon_map_8h_source.html">CBeaconMap.h</a>.</p>
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<a class="anchor" id="a3ca5fea29c2e22daaeed2b5a89242d47"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::MC_numSamplesPerMeter" ref="a3ca5fea29c2e22daaeed2b5a89242d47" args="" -->
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<td class="memname">unsigned int <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a3ca5fea29c2e22daaeed2b5a89242d47">mrpt::slam::CBeaconMap::TInsertionOptions::MC_numSamplesPerMeter</a></td>
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<p>Number of particles per meter of range, i.e. </p>
<p>per meter of the "radius of the ring". </p>
<p>Definition at line <a class="el" href="_c_beacon_map_8h_source.html#l00205">205</a> of file <a class="el" href="_c_beacon_map_8h_source.html">CBeaconMap.h</a>.</p>
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<a class="anchor" id="ae4fc3bf89d47bf75015377d47d18f6a3"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::MC_performResampling" ref="ae4fc3bf89d47bf75015377d47d18f6a3" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#ae4fc3bf89d47bf75015377d47d18f6a3">mrpt::slam::CBeaconMap::TInsertionOptions::MC_performResampling</a></td>
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<p>If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion. </p>
<p>Definition at line <a class="el" href="_c_beacon_map_8h_source.html#l00217">217</a> of file <a class="el" href="_c_beacon_map_8h_source.html">CBeaconMap.h</a>.</p>
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<a class="anchor" id="afa595b083cd88b6fa6143c40d231d37b"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::MC_thresholdNegligible" ref="afa595b083cd88b6fa6143c40d231d37b" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#afa595b083cd88b6fa6143c40d231d37b">mrpt::slam::CBeaconMap::TInsertionOptions::MC_thresholdNegligible</a></td>
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<p>Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5). </p>
<p>Definition at line <a class="el" href="_c_beacon_map_8h_source.html#l00213">213</a> of file <a class="el" href="_c_beacon_map_8h_source.html">CBeaconMap.h</a>.</p>
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<a class="anchor" id="a3a48b30e23ee394f19b641350e6cacf3"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::minElevation_deg" ref="a3a48b30e23ee394f19b641350e6cacf3" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a3a48b30e23ee394f19b641350e6cacf3">mrpt::slam::CBeaconMap::TInsertionOptions::minElevation_deg</a></td>
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<p>Definition at line <a class="el" href="_c_beacon_map_8h_source.html#l00201">201</a> of file <a class="el" href="_c_beacon_map_8h_source.html">CBeaconMap.h</a>.</p>
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<a class="anchor" id="a025b618c597c30b2f2ccccd9adfbcdb2"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians" ref="a025b618c597c30b2f2ccccd9adfbcdb2" args="" -->
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<p>A parameter for initializing 2D/3D SOGs. </p>
<p>Definition at line <a class="el" href="_c_beacon_map_8h_source.html#l00229">229</a> of file <a class="el" href="_c_beacon_map_8h_source.html">CBeaconMap.h</a>.</p>
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a2481fb8b8f4f2862eaafb1d727ecb31c">mrpt::slam::CBeaconMap::TInsertionOptions::SOG_separationConstant</a></td>
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<p>Constant used to compute the std. </p>
<p>dev. int the tangent direction when creating the Gaussians. </p>
<p>Definition at line <a class="el" href="_c_beacon_map_8h_source.html#l00233">233</a> of file <a class="el" href="_c_beacon_map_8h_source.html">CBeaconMap.h</a>.</p>
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<a class="anchor" id="a26bf0db41d250e0bd06e44cc83afd6a5"></a><!-- doxytag: member="mrpt::slam::CBeaconMap::TInsertionOptions::SOG_thresholdNegligible" ref="a26bf0db41d250e0bd06e44cc83afd6a5" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_beacon_map_1_1_t_insertion_options.html#a26bf0db41d250e0bd06e44cc83afd6a5">mrpt::slam::CBeaconMap::TInsertionOptions::SOG_thresholdNegligible</a></td>
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<p>Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20). </p>
<p>Definition at line <a class="el" href="_c_beacon_map_8h_source.html#l00225">225</a> of file <a class="el" href="_c_beacon_map_8h_source.html">CBeaconMap.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
