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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html">CRandomFieldGridMap2D</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_random_field_grid_map2_d_1_1_t_insertion_options_common.html">TInsertionOptionsCommon</a> </li>
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<a href="#pub-methods">Public Member Functions</a> </div>
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<div class="title">mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Parameters common to any derived class. </p>
<p>Derived classes should derive a new struct from this one, plus "public utils::CLoadableOptions", and call the internal_* methods where appropiate to deal with the variables declared here. Derived classes instantions of their "TInsertionOptions" MUST set the pointer "m_insertOptions_common" upon construction. </p>
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<p><code>#include <<a class="el" href="_c_random_field_grid_map2_d_8h_source.html">mrpt/slam/CRandomFieldGridMap2D.h</a>></code></p>
<p><a href="structmrpt_1_1slam_1_1_c_random_field_grid_map2_d_1_1_t_insertion_options_common-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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#ae2f146c386464dd99419cf6fc98dd17f">TInsertionOptionsCommon</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default values loader. <a href="#ae2f146c386464dd99419cf6fc98dd17f"></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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#a66fed69f44449cf6a09dd39e4f8efbff">internal_loadFromConfigFile_common</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="#a66fed69f44449cf6a09dd39e4f8efbff"></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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#abb8d92806a9a37b05d8aaa72aa8e2e8e">internal_dumpToTextStream_common</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="#abb8d92806a9a37b05d8aaa72aa8e2e8e"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td colspan="2"><div class="groupHeader">Kernel methods (mrKernelDM, mrKernelDMV)</div></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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#a3afa47032318bd32e9df69c0a792df30">sigma</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The sigma of the "Parzen"-kernel Gaussian. <a href="#a3afa47032318bd32e9df69c0a792df30"></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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#a86394e651b3089dbd144885cf0a67a69">cutoffRadius</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The cutoff radius for updating cells. <a href="#a86394e651b3089dbd144885cf0a67a69"></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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#a730287aeef0fae9cc76e6ca1bfca42c9">R_min</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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#aaac76c5bb11abadfb3f1a40d42ec9bcf">R_max</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Limits for normalization of sensor readings. <a href="#aaac76c5bb11abadfb3f1a40d42ec9bcf"></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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#a121eacfeb225178211331521fded415f">dm_sigma_omega</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html" title="CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...">CRandomFieldGridMap2D</a>) */ <a href="#a121eacfeb225178211331521fded415f"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate)</div></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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#ab3ac1c547894de9da1ff86788c8b706b">KF_covSigma</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The "sigma" for the initial covariance value between cells (in meters). <a href="#ab3ac1c547894de9da1ff86788c8b706b"></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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#af34344b6687eb12c29eb21cb33573cfd">KF_initialCellStd</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units). <a href="#af34344b6687eb12c29eb21cb33573cfd"></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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#a7dfc988c09f0529ec670f83233c371a0">KF_observationModelNoise</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The sensor model noise (in normalized concentration units). <a href="#a7dfc988c09f0529ec670f83233c371a0"></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_random_field_grid_map2_d_1_1_t_insertion_options_common.html#a8cf9d24ff786ef4216809575a316fff5">KF_defaultCellMeanValue</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The default value for the mean of cells' concentration. <a href="#a8cf9d24ff786ef4216809575a316fff5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_random_field_grid_map2_d_1_1_t_insertion_options_common.html#accf983f2c4803b8ee3a79b2a27dd955e">KF_W_size</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[mrKalmanApproximate] The size of the window of neighbor cells. <a href="#accf983f2c4803b8ee3a79b2a27dd955e"></a><br/></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="ae2f146c386464dd99419cf6fc98dd17f"></a><!-- doxytag: member="mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::TInsertionOptionsCommon" ref="ae2f146c386464dd99419cf6fc98dd17f" args="()" -->
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<td class="memname">mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::TInsertionOptionsCommon </td>
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<p>Default values loader. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="abb8d92806a9a37b05d8aaa72aa8e2e8e"></a><!-- doxytag: member="mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common" ref="abb8d92806a9a37b05d8aaa72aa8e2e8e" args="(CStream &out) const " -->
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<td class="memname">void mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common </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>
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<a class="anchor" id="a66fed69f44449cf6a09dd39e4f8efbff"></a><!-- doxytag: member="mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common" ref="a66fed69f44449cf6a09dd39e4f8efbff" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common </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>
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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>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a86394e651b3089dbd144885cf0a67a69"></a><!-- doxytag: member="mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius" ref="a86394e651b3089dbd144885cf0a67a69" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_random_field_grid_map2_d_1_1_t_insertion_options_common.html#a86394e651b3089dbd144885cf0a67a69">mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius</a></td>
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<p>The cutoff radius for updating cells. </p>
<p>Definition at line <a class="el" href="_c_random_field_grid_map2_d_8h_source.html#l00194">194</a> of file <a class="el" href="_c_random_field_grid_map2_d_8h_source.html">CRandomFieldGridMap2D.h</a>.</p>
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<a class="anchor" id="a121eacfeb225178211331521fded415f"></a><!-- doxytag: member="mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega" ref="a121eacfeb225178211331521fded415f" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_random_field_grid_map2_d_1_1_t_insertion_options_common.html#a121eacfeb225178211331521fded415f">mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega</a></td>
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<p>[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html" title="CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property...">CRandomFieldGridMap2D</a>) */ </p>
<p>Definition at line <a class="el" href="_c_random_field_grid_map2_d_8h_source.html#l00196">196</a> of file <a class="el" href="_c_random_field_grid_map2_d_8h_source.html">CRandomFieldGridMap2D.h</a>.</p>
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<a class="anchor" id="ab3ac1c547894de9da1ff86788c8b706b"></a><!-- doxytag: member="mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma" ref="ab3ac1c547894de9da1ff86788c8b706b" args="" -->
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<p>The "sigma" for the initial covariance value between cells (in meters). </p>
<p>Definition at line <a class="el" href="_c_random_field_grid_map2_d_8h_source.html#l00201">201</a> of file <a class="el" href="_c_random_field_grid_map2_d_8h_source.html">CRandomFieldGridMap2D.h</a>.</p>
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<a class="anchor" id="a8cf9d24ff786ef4216809575a316fff5"></a><!-- doxytag: member="mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue" ref="a8cf9d24ff786ef4216809575a316fff5" args="" -->
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<p>The default value for the mean of cells' concentration. </p>
<p>Definition at line <a class="el" href="_c_random_field_grid_map2_d_8h_source.html#l00204">204</a> of file <a class="el" href="_c_random_field_grid_map2_d_8h_source.html">CRandomFieldGridMap2D.h</a>.</p>
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<a class="anchor" id="af34344b6687eb12c29eb21cb33573cfd"></a><!-- doxytag: member="mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd" ref="af34344b6687eb12c29eb21cb33573cfd" args="" -->
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<p>The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units). </p>
<p>Definition at line <a class="el" href="_c_random_field_grid_map2_d_8h_source.html#l00202">202</a> of file <a class="el" href="_c_random_field_grid_map2_d_8h_source.html">CRandomFieldGridMap2D.h</a>.</p>
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<a class="anchor" id="a7dfc988c09f0529ec670f83233c371a0"></a><!-- doxytag: member="mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise" ref="a7dfc988c09f0529ec670f83233c371a0" args="" -->
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<p>The sensor model noise (in normalized concentration units). </p>
<p>Definition at line <a class="el" href="_c_random_field_grid_map2_d_8h_source.html#l00203">203</a> of file <a class="el" href="_c_random_field_grid_map2_d_8h_source.html">CRandomFieldGridMap2D.h</a>.</p>
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<a class="anchor" id="accf983f2c4803b8ee3a79b2a27dd955e"></a><!-- doxytag: member="mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size" ref="accf983f2c4803b8ee3a79b2a27dd955e" args="" -->
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<p>[mrKalmanApproximate] The size of the window of neighbor cells. </p>
<p>Definition at line <a class="el" href="_c_random_field_grid_map2_d_8h_source.html#l00205">205</a> of file <a class="el" href="_c_random_field_grid_map2_d_8h_source.html">CRandomFieldGridMap2D.h</a>.</p>
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<p>Limits for normalization of sensor readings. </p>
<p>Definition at line <a class="el" href="_c_random_field_grid_map2_d_8h_source.html#l00195">195</a> of file <a class="el" href="_c_random_field_grid_map2_d_8h_source.html">CRandomFieldGridMap2D.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_random_field_grid_map2_d_8h_source.html#l00195">195</a> of file <a class="el" href="_c_random_field_grid_map2_d_8h_source.html">CRandomFieldGridMap2D.h</a>.</p>
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<p>The sigma of the "Parzen"-kernel Gaussian. </p>
<p>Definition at line <a class="el" href="_c_random_field_grid_map2_d_8h_source.html#l00193">193</a> of file <a class="el" href="_c_random_field_grid_map2_d_8h_source.html">CRandomFieldGridMap2D.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>
