<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>mrpt::slam::CPointsMap::TLikelihoodOptions Struct Reference</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.7.5 --> <script type="text/javascript"> var searchBox = new SearchBox("searchBox", "search",false,'Search'); </script> <div id="navrow1" class="tabs"> <ul class="tablist"> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="modules.html"><span>Modules</span></a></li> <li><a href="namespaces.html"><span>Namespaces</span></a></li> <li 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class="navelem"><a class="el" href="namespacemrpt_1_1slam.html">slam</a> </li> <li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">CPointsMap</a> </li> <li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_likelihood_options.html">TLikelihoodOptions</a> </li> </ul> </div> </div> <div class="header"> <div class="summary"> <a href="#pub-methods">Public Member Functions</a> | <a href="#pub-attribs">Public Attributes</a> | <a href="#pro-static-methods">Static Protected Member Functions</a> </div> <div class="headertitle"> <div class="title">mrpt::slam::CPointsMap::TLikelihoodOptions Struct Reference</div> </div> </div> <div class="contents"> <!-- doxytag: class="mrpt::slam::CPointsMap::TLikelihoodOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2> <div class="textblock"><p>Options used when evaluating "computeObservationLikelihood" in the derived classes. </p> <dl class="see"><dt><b>See also:</b></dt><dd>CObservation::computeObservationLikelihood </dd></dl> </div> <p><code>#include <<a class="el" href="_c_points_map_8h_source.html">mrpt/slam/CPointsMap.h</a>></code></p> <div class="dynheader"> Inheritance diagram for mrpt::slam::CPointsMap::TLikelihoodOptions:</div> <div class="dyncontent"> <div class="center"><img src="structmrpt_1_1slam_1_1_c_points_map_1_1_t_likelihood_options__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_points_map_1_1_t_likelihood_options_inherit__map" alt="Inheritance graph"/></div> <map name="mrpt_1_1slam_1_1_c_points_map_1_1_t_likelihood_options_inherit__map" id="mrpt_1_1slam_1_1_c_points_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="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_points_map_1_1_t_likelihood_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_points_map_1_1_t_likelihood_options.html#ad976f8eaa8e4d44a8dec6bccac7a964c">TLikelihoodOptions</a> ()</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Initilization of default parameters. <a href="#ad976f8eaa8e4d44a8dec6bccac7a964c"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_likelihood_options.html#af636a1604953a2b32fc50dea3a87489e">~TLikelihoodOptions</a> ()</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_points_map_1_1_t_likelihood_options.html#ae86399febd7a9537db62e873f805e315">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="#ae86399febd7a9537db62e873f805e315"></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_points_map_1_1_t_likelihood_options.html#a10e09ea00a6098f0bc40ad9cd0ccd73f">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="#a10e09ea00a6098f0bc40ad9cd0ccd73f"></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_points_map_1_1_t_likelihood_options.html#a61c7ec1bf6e46dc988e3594dd45dcd56">writeToStream</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">Binary dump to stream - for usage in derived classes' serialization. <a href="#a61c7ec1bf6e46dc988e3594dd45dcd56"></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_points_map_1_1_t_likelihood_options.html#af7444bfc34bf2a66df3d1f20a86cc376">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &in)</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Binary dump to stream - for usage in derived classes' serialization. <a href="#af7444bfc34bf2a66df3d1f20a86cc376"></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">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_likelihood_options.html#afb5171da06bc9532e5e3c28aa95ed7ab">sigma_dist</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters) <a href="#afb5171da06bc9532e5e3c28aa95ed7ab"></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_points_map_1_1_t_likelihood_options.html#a138e70c07962d476f3dccc2fba7a7f1c">max_corr_distance</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters) <a href="#a138e70c07962d476f3dccc2fba7a7f1c"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_likelihood_options.html#a35d3481056c5b08bd6fa33f59689fdf4">decimation</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Speed up the likelihood computation by considering only one out of N rays (default=10) <a href="#a35d3481056c5b08bd6fa33f59689fdf4"></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="ad976f8eaa8e4d44a8dec6bccac7a964c"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::TLikelihoodOptions" ref="ad976f8eaa8e4d44a8dec6bccac7a964c" args="()" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">mrpt::slam::CPointsMap::TLikelihoodOptions::TLikelihoodOptions </td> <td>(</td> <td class="paramname"></td><td>)</td> <td></td> </tr> </table> </div> <div class="memdoc"> <p>Initilization of default parameters. </p> </div> </div> <a class="anchor" id="af636a1604953a2b32fc50dea3a87489e"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::~TLikelihoodOptions" ref="af636a1604953a2b32fc50dea3a87489e" args="()" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">virtual mrpt::slam::CPointsMap::TLikelihoodOptions::~TLikelihoodOptions </td> <td>(</td> <td class="paramname"></td><td>)</td> <td><code> [inline, virtual]</code></td> </tr> </table> </div> <div class="memdoc"> <p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00213">213</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p> </div> </div> <hr/><h2>Member Function Documentation</h2> <a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::dumpToConsole" ref="a37c6d8d52b1d9bdacaf073e6910bdd7f" args="() const " --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">void mrpt::utils::CLoadableOptions::dumpToConsole </td> <td>(</td> <td class="paramname"></td><td>)</td> <td> const<code> [inherited]</code></td> </tr> </table> </div> <div class="memdoc"> <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> </div> </div> <a class="anchor" id="a10e09ea00a6098f0bc40ad9cd0ccd73f"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::dumpToTextStream" ref="a10e09ea00a6098f0bc40ad9cd0ccd73f" args="(CStream &out) const " --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">void mrpt::slam::CPointsMap::TLikelihoodOptions::dumpToTextStream </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td> <td class="paramname"><em>out</em></td><td>)</td> <td> const<code> [virtual]</code></td> </tr> </table> </div> <div class="memdoc"> <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> </div> </div> <a class="anchor" id="a63837b199914f55d8f0bd950f598fe14"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::dumpVar_bool" ref="a63837b199914f55d8f0bd950f598fe14" args="(CStream &out, const char *varName, bool v)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <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> <td class="paramname"><em>out</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const char * </td> <td class="paramname"><em>varName</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">bool </td> <td class="paramname"><em>v</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td><code> [static, protected, inherited]</code></td> </tr> </table> </div> <div class="memdoc"> </div> </div> <a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::dumpVar_double" ref="ac4ee21d250d3b3574790ceac343a27a9" args="(CStream &out, const char *varName, double v)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_double </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td> <td class="paramname"><em>out</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const char * </td> <td class="paramname"><em>varName</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">double </td> <td class="paramname"><em>v</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td><code> [static, protected, inherited]</code></td> </tr> </table> </div> <div class="memdoc"> </div> </div> <a class="anchor" id="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::dumpVar_float" ref="a18862f2d04fc18dd2c2662331156189f" args="(CStream &out, const char *varName, float v)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_float </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td> <td class="paramname"><em>out</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const char * </td> <td class="paramname"><em>varName</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">float </td> <td class="paramname"><em>v</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td><code> [static, protected, inherited]</code></td> </tr> </table> </div> <div class="memdoc"> </div> </div> <a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::dumpVar_int" ref="a886e9903515fdb12d4f052a7fd582bb6" args="(CStream &out, const char *varName, int v)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_int </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td> <td class="paramname"><em>out</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const char * </td> <td class="paramname"><em>varName</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">int </td> <td class="paramname"><em>v</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td><code> [static, protected, inherited]</code></td> </tr> </table> </div> <div class="memdoc"> <p>Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. </p> </div> </div> <a class="anchor" id="a60b1c6599953f1d593e6a7b0421e5a77"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::dumpVar_string" ref="a60b1c6599953f1d593e6a7b0421e5a77" args="(CStream &out, const char *varName, const std::string &v)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_string </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td> <td class="paramname"><em>out</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const char * </td> <td class="paramname"><em>varName</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td> <td class="paramname"><em>v</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td><code> [static, protected, inherited]</code></td> </tr> </table> </div> <div class="memdoc"> </div> </div> <a class="anchor" id="ae86399febd7a9537db62e873f805e315"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::loadFromConfigFile" ref="ae86399febd7a9537db62e873f805e315" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">void mrpt::slam::CPointsMap::TLikelihoodOptions::loadFromConfigFile </td> <td>(</td> <td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td> <td class="paramname"><em>source</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td> <td class="paramname"><em>section</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td><code> [virtual]</code></td> </tr> </table> </div> <div class="memdoc"> <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> </div> </div> <a class="anchor" id="a1ce8e0f241fe85f78095e23d37b2b635"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::loadFromConfigFileName" ref="a1ce8e0f241fe85f78095e23d37b2b635" args="(const std::string &config_file, const std::string &section)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">void mrpt::utils::CLoadableOptions::loadFromConfigFileName </td> <td>(</td> <td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td> <td class="paramname"><em>config_file</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td> <td class="paramname"><em>section</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td><code> [inherited]</code></td> </tr> </table> </div> <div class="memdoc"> <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> </div> </div> <a class="anchor" id="af7444bfc34bf2a66df3d1f20a86cc376"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::readFromStream" ref="af7444bfc34bf2a66df3d1f20a86cc376" args="(CStream &in)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">void mrpt::slam::CPointsMap::TLikelihoodOptions::readFromStream </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td> <td class="paramname"><em>in</em></td><td>)</td> <td></td> </tr> </table> </div> <div class="memdoc"> <p>Binary dump to stream - for usage in derived classes' serialization. </p> </div> </div> <a class="anchor" id="a913c3433af4564cedeb25e24ace1cf28"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::saveToConfigFile" ref="a913c3433af4564cedeb25e24ace1cf28" args="(mrpt::utils::CConfigFileBase &source, const std::string &section)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">virtual void mrpt::utils::CLoadableOptions::saveToConfigFile </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td> <td class="paramname"><em>source</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td> <td class="paramname"><em>section</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td><code> [inline, virtual, inherited]</code></td> </tr> </table> </div> <div class="memdoc"> <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> </div> </div> <a class="anchor" id="aa059b0160ed9881c284bcea9a42c51f8"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">void mrpt::utils::CLoadableOptions::saveToConfigFileName </td> <td>(</td> <td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td> <td class="paramname"><em>config_file</em>, </td> </tr> <tr> <td class="paramkey"></td> <td></td> <td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td> <td class="paramname"><em>section</em> </td> </tr> <tr> <td></td> <td>)</td> <td></td><td><code> [inherited]</code></td> </tr> </table> </div> <div class="memdoc"> <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> </div> </div> <a class="anchor" id="a61c7ec1bf6e46dc988e3594dd45dcd56"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::writeToStream" ref="a61c7ec1bf6e46dc988e3594dd45dcd56" args="(CStream &out) const " --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">void mrpt::slam::CPointsMap::TLikelihoodOptions::writeToStream </td> <td>(</td> <td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td> <td class="paramname"><em>out</em></td><td>)</td> <td> const</td> </tr> </table> </div> <div class="memdoc"> <p>Binary dump to stream - for usage in derived classes' serialization. </p> </div> </div> <hr/><h2>Member Data Documentation</h2> <a class="anchor" id="a35d3481056c5b08bd6fa33f59689fdf4"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::decimation" ref="a35d3481056c5b08bd6fa33f59689fdf4" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">uint32_t <a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_likelihood_options.html#a35d3481056c5b08bd6fa33f59689fdf4">mrpt::slam::CPointsMap::TLikelihoodOptions::decimation</a></td> </tr> </table> </div> <div class="memdoc"> <p>Speed up the likelihood computation by considering only one out of N rays (default=10) </p> <p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00228">228</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p> </div> </div> <a class="anchor" id="a138e70c07962d476f3dccc2fba7a7f1c"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::max_corr_distance" ref="a138e70c07962d476f3dccc2fba7a7f1c" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_likelihood_options.html#a138e70c07962d476f3dccc2fba7a7f1c">mrpt::slam::CPointsMap::TLikelihoodOptions::max_corr_distance</a></td> </tr> </table> </div> <div class="memdoc"> <p>Maximum distance in meters to consider for the numerator divided by "sigma_dist", so that each point has a minimum (but very small) likelihood to avoid underflows (default=1.0 meters) </p> <p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00227">227</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p> </div> </div> <a class="anchor" id="afb5171da06bc9532e5e3c28aa95ed7ab"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TLikelihoodOptions::sigma_dist" ref="afb5171da06bc9532e5e3c28aa95ed7ab" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_likelihood_options.html#afb5171da06bc9532e5e3c28aa95ed7ab">mrpt::slam::CPointsMap::TLikelihoodOptions::sigma_dist</a></td> </tr> </table> </div> <div class="memdoc"> <p>Sigma (standard deviation, in meters) of the exponential used to model the likelihood (default= 0.5meters) </p> <p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00226">226</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p> </div> </div> </div> <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>