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<title>mrpt::slam::CLandmarksMap::TLikelihoodOptions Struct Reference</title>
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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html">TLikelihoodOptions</a> </li>
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<div class="title">mrpt::slam::CLandmarksMap::TLikelihoodOptions Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CLandmarksMap::TLikelihoodOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>With this struct options are provided to the likelihood computations. </p>
</div>
<p><code>#include <<a class="el" href="_c_landmarks_map_8h_source.html">mrpt/slam/CLandmarksMap.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CLandmarksMap::TLikelihoodOptions:</div>
<div class="dyncontent">
<div class="center"><img src="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_inherit__map" id="mrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_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="63,5,257,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html">TGPSOrigin</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This struct store de GPS longitude, latitude (in degrees ) and altitude (in meters) for the first GPS observation compose with de sensor position on the robot. <a href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html#details">More...</a><br/></td></tr>
<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_landmarks_map_1_1_t_likelihood_options.html#af6105e3c41c31d674535cd4159c7be6b">TLikelihoodOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initilization of default parameters. <a href="#af6105e3c41c31d674535cd4159c7be6b"></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_landmarks_map_1_1_t_likelihood_options.html#ab9ecbd372ff73995d47fed6b2e8cb190">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="#ab9ecbd372ff73995d47fed6b2e8cb190"></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_landmarks_map_1_1_t_likelihood_options.html#a8bd33849a7c77d28b5199b3416c8b758">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="#a8bd33849a7c77d28b5199b3416c8b758"></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">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#a374d65cdb088769e433c5c36f9cbfb68">rangeScan2D_decimation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation) <a href="#a374d65cdb088769e433c5c36f9cbfb68"></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_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#a4d8e5152a4df3b3512061e3879158147">SIFTs_sigma_euclidean_dist</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#ae953229c67316ceab22efa8a42011c10">SIFTs_sigma_descriptor_dist</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#a6111553f3875f9956cbdc56326d1f42b">SIFTs_mahaDist_std</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#a61900509cc64fdfa975250d79cf2a30d">SIFTnullCorrespondenceDistance</a></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_landmarks_map_1_1_t_likelihood_options.html#a5cd43b32fce96acbe04084188a2601d0">SIFTs_decimation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation. <a href="#a5cd43b32fce96acbe04084188a2601d0"></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_landmarks_map_1_1_t_likelihood_options.html#a270b8cb556ee8bf3a0b6538944500fc0">beaconRangesStd</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The standard deviation used for Beacon ranges likelihood (default=0.08). <a href="#a270b8cb556ee8bf3a0b6538944500fc0"></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_landmarks_map_1_1_t_likelihood_options.html#af42a142ea40c0f167905bc9428ac91ff">alphaRatio</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The ratio between gaussian and uniform distribution (default=1). <a href="#af42a142ea40c0f167905bc9428ac91ff"></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_landmarks_map_1_1_t_likelihood_options.html#ad963b3f5793b36574acb42ffeb1e1768">beaconMaxRange</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Maximun reliable beacon range value (default=20) <a href="#ad963b3f5793b36574acb42ffeb1e1768"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct VISION_IMPEXP <br class="typebreak"/>
<a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#a7f6fa1cc71865d22fab8ebd6b900e587">GPSOrigin</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#ab8119d8682416d219d5ee6200b000c1a">GPS_sigma</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A constant "sigma" for GPS localization data (in meters) <a href="#ab8119d8682416d219d5ee6200b000c1a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#aa37664b1e805a6723bfb649ffcdd7675">SIFT_feat_options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map. <a href="#aa37664b1e805a6723bfb649ffcdd7675"></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="af6105e3c41c31d674535cd4159c7be6b"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions" ref="af6105e3c41c31d674535cd4159c7be6b" args="()" -->
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<td class="memname">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TLikelihoodOptions </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::CLandmarksMap::TLikelihoodOptions::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="a8bd33849a7c77d28b5199b3416c8b758"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::dumpToTextStream" ref="a8bd33849a7c77d28b5199b3416c8b758" args="(CStream &out) const " -->
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<td class="memname">void mrpt::slam::CLandmarksMap::TLikelihoodOptions::dumpToTextStream </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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<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::CLandmarksMap::TLikelihoodOptions::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></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::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="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::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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<td>)</td>
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<a class="anchor" id="ab9ecbd372ff73995d47fed6b2e8cb190"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::loadFromConfigFile" ref="ab9ecbd372ff73995d47fed6b2e8cb190" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::slam::CLandmarksMap::TLikelihoodOptions::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::CLandmarksMap::TLikelihoodOptions::loadFromConfigFileName" ref="a1ce8e0f241fe85f78095e23d37b2b635" args="(const std::string &config_file, const std::string &section)" -->
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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::CLandmarksMap::TLikelihoodOptions::saveToConfigFile" ref="a913c3433af4564cedeb25e24ace1cf28" args="(mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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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::CLandmarksMap::TLikelihoodOptions::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="af42a142ea40c0f167905bc9428ac91ff"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::alphaRatio" ref="af42a142ea40c0f167905bc9428ac91ff" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#af42a142ea40c0f167905bc9428ac91ff">mrpt::slam::CLandmarksMap::TLikelihoodOptions::alphaRatio</a></td>
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<p>The ratio between gaussian and uniform distribution (default=1). </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00343">343</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="ad963b3f5793b36574acb42ffeb1e1768"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::beaconMaxRange" ref="ad963b3f5793b36574acb42ffeb1e1768" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#ad963b3f5793b36574acb42ffeb1e1768">mrpt::slam::CLandmarksMap::TLikelihoodOptions::beaconMaxRange</a></td>
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<p>Maximun reliable beacon range value (default=20) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00347">347</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="a270b8cb556ee8bf3a0b6538944500fc0"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::beaconRangesStd" ref="a270b8cb556ee8bf3a0b6538944500fc0" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#a270b8cb556ee8bf3a0b6538944500fc0">mrpt::slam::CLandmarksMap::TLikelihoodOptions::beaconRangesStd</a></td>
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<p>The standard deviation used for Beacon ranges likelihood (default=0.08). </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00339">339</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="ab8119d8682416d219d5ee6200b000c1a"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::GPS_sigma" ref="ab8119d8682416d219d5ee6200b000c1a" args="" -->
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<p>A constant "sigma" for GPS localization data (in meters) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00387">387</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<td class="memname">struct VISION_IMPEXP <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options_1_1_t_g_p_s_origin.html">mrpt::slam::CLandmarksMap::TLikelihoodOptions::TGPSOrigin</a> <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#a7f6fa1cc71865d22fab8ebd6b900e587">mrpt::slam::CLandmarksMap::TLikelihoodOptions::GPSOrigin</a></td>
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<a class="anchor" id="a374d65cdb088769e433c5c36f9cbfb68"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::rangeScan2D_decimation" ref="a374d65cdb088769e433c5c36f9cbfb68" args="" -->
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<td class="memname">unsigned int <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#a374d65cdb088769e433c5c36f9cbfb68">mrpt::slam::CLandmarksMap::TLikelihoodOptions::rangeScan2D_decimation</a></td>
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<p>The number of rays from a 2D range scan will be decimated by this factor (default = 1, no decimation) </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00323">323</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="aa37664b1e805a6723bfb649ffcdd7675"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFT_feat_options" ref="aa37664b1e805a6723bfb649ffcdd7675" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html">mrpt::vision::CFeatureExtraction::TOptions</a> <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#aa37664b1e805a6723bfb649ffcdd7675">mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFT_feat_options</a></td>
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<p>Parameters of the SIFT feature detector/descriptors while inserting images in the landmark map. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>There exists another <em>SIFT_feat_options</em> field in the <em>insertionOptions</em> member. </dd>
<dd>
All parameters of this field can be loaded from a config file. See <a class="el" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html" title="The set of parameters for all the detectors & descriptor algorithms.">mrpt::vision::CFeatureExtraction::TOptions</a> for the names of the expected fields. </dd></dl>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00393">393</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#a61900509cc64fdfa975250d79cf2a30d">mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTnullCorrespondenceDistance</a></td>
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<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00331">331</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<td class="memname">int <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#a5cd43b32fce96acbe04084188a2601d0">mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_decimation</a></td>
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<p>Considers 1 out of "SIFTs_decimation" visual landmarks in the observation during the likelihood computation. </p>
<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00335">335</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00329">329</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="ae953229c67316ceab22efa8a42011c10"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_descriptor_dist" ref="ae953229c67316ceab22efa8a42011c10" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#ae953229c67316ceab22efa8a42011c10">mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_descriptor_dist</a></td>
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<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00327">327</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.h</a>.</p>
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<a class="anchor" id="a4d8e5152a4df3b3512061e3879158147"></a><!-- doxytag: member="mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_euclidean_dist" ref="a4d8e5152a4df3b3512061e3879158147" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_landmarks_map_1_1_t_likelihood_options.html#a4d8e5152a4df3b3512061e3879158147">mrpt::slam::CLandmarksMap::TLikelihoodOptions::SIFTs_sigma_euclidean_dist</a></td>
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<p>Definition at line <a class="el" href="_c_landmarks_map_8h_source.html#l00325">325</a> of file <a class="el" href="_c_landmarks_map_8h_source.html">CLandmarksMap.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>
