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<title>mrpt::slam::CRangeBearingKFSLAM2D::TOptions Struct Reference</title>
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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d.html">CRangeBearingKFSLAM2D</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html">TOptions</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::slam::CRangeBearingKFSLAM2D::TOptions Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CRangeBearingKFSLAM2D::TOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The options for the algorithm. </p>
</div>
<p><code>#include <<a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html">mrpt/slam/CRangeBearingKFSLAM2D.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM2D::TOptions:</div>
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<div class="center"><img src="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options_inherit__map" id="mrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio..." alt="" coords="65,5,260,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_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_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a87d32e87174e44346ed6e481763492d0">TOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default values. <a href="#a87d32e87174e44346ed6e481763492d0"></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_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#aa47fddd1f1ed217f164776d5051e56a3">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">Load from a config file/text. <a href="#aa47fddd1f1ed217f164776d5051e56a3"></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_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a8f1760c4f4a267477c6776f691373d95">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">This method must display clearly all the contents of the structure in textual form, sending it to a CStream. <a href="#a8f1760c4f4a267477c6776f691373d95"></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"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a22ae065c8df9c77b554f6dc24978d853">stds_Q_no_odo</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!) <a href="#a22ae065c8df9c77b554f6dc24978d853"></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_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#aa42eeedf77e638a4abe6fad8e9767c92">std_sensor_range</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_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a41b68b424ec93e6ec2a393be4177a489">std_sensor_yaw</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians. <a href="#a41b68b424ec93e6ec2a393be4177a489"></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_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a1d2b86a7683615f31fa62d86438fd0c6">quantiles_3D_representation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Default = 3. <a href="#a1d2b86a7683615f31fa62d86438fd0c6"></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_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#ae9234a928b9a41f41a692ec6e4ae1b55">create_simplemap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Whether to fill m_SFs (default=false) <a href="#ae9234a928b9a41f41a692ec6e4ae1b55"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__data__assoc__grp.html#gaf66b40e2929429a8b181039f447caf84">TDataAssociationMethod</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a92a94e39d6c5fcecd4bef9b577975e7f">data_assoc_method</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__data__assoc__grp.html#gaba3986ed0165435285d91f15552abbc5">TDataAssociationMetric</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a979ab6aa5b5693a99cb1e1e6beb10c58">data_assoc_metric</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_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#ad7b2dff7a66e37df96755ae006d89993">data_assoc_IC_chi2_thres</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99) <a href="#ad7b2dff7a66e37df96755ae006d89993"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__data__assoc__grp.html#gaba3986ed0165435285d91f15552abbc5">TDataAssociationMetric</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a97fe3497e9cbfebaaca22ce574153fd8">data_assoc_IC_metric</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood. <a href="#a97fe3497e9cbfebaaca22ce574153fd8"></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_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#af72baa99d012948804961a453cb1aee3">data_assoc_IC_ml_threshold</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) <a href="#af72baa99d012948804961a453cb1aee3"></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="a87d32e87174e44346ed6e481763492d0"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::TOptions" ref="a87d32e87174e44346ed6e481763492d0" args="()" -->
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<td class="memname">mrpt::slam::CRangeBearingKFSLAM2D::TOptions::TOptions </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<div class="memdoc">
<p>Default values. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::dumpToConsole" ref="a37c6d8d52b1d9bdacaf073e6910bdd7f" args="() const " -->
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<td class="memname">void mrpt::utils::CLoadableOptions::dumpToConsole </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inherited]</code></td>
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<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>
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<a class="anchor" id="a8f1760c4f4a267477c6776f691373d95"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::dumpToTextStream" ref="a8f1760c4f4a267477c6776f691373d95" args="(CStream &out) const " -->
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<td class="memname">void mrpt::slam::CRangeBearingKFSLAM2D::TOptions::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>
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<p>This method must display clearly all the contents of the structure in textual form, sending it to a CStream. </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::CRangeBearingKFSLAM2D::TOptions::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>
<td class="paramname"><em>out</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
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<td class="paramtype">bool </td>
<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="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::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>
<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>
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<td class="paramname"><em>varName</em>, </td>
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<td class="paramtype">double </td>
<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::CRangeBearingKFSLAM2D::TOptions::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::CRangeBearingKFSLAM2D::TOptions::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::CRangeBearingKFSLAM2D::TOptions::dumpVar_string" ref="a60b1c6599953f1d593e6a7b0421e5a77" args="(CStream &out, const char *varName, const std::string &v)" -->
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<a class="anchor" id="aa47fddd1f1ed217f164776d5051e56a3"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile" ref="aa47fddd1f1ed217f164776d5051e56a3" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile </td>
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<p>Load from a config file/text. </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::CRangeBearingKFSLAM2D::TOptions::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::CRangeBearingKFSLAM2D::TOptions::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::CRangeBearingKFSLAM2D::TOptions::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" -->
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </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="ae9234a928b9a41f41a692ec6e4ae1b55"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::create_simplemap" ref="ae9234a928b9a41f41a692ec6e4ae1b55" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#ae9234a928b9a41f41a692ec6e4ae1b55">mrpt::slam::CRangeBearingKFSLAM2D::TOptions::create_simplemap</a></td>
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<p>Whether to fill m_SFs (default=false) </p>
<p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html#l00140">140</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html">CRangeBearingKFSLAM2D.h</a>.</p>
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<a class="anchor" id="ad7b2dff7a66e37df96755ae006d89993"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_chi2_thres" ref="ad7b2dff7a66e37df96755ae006d89993" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#ad7b2dff7a66e37df96755ae006d89993">mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_chi2_thres</a></td>
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<p>Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99) </p>
<p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html#l00145">145</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html">CRangeBearingKFSLAM2D.h</a>.</p>
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<a class="anchor" id="a97fe3497e9cbfebaaca22ce574153fd8"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_metric" ref="a97fe3497e9cbfebaaca22ce574153fd8" args="" -->
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<td class="memname"><a class="el" href="group__data__assoc__grp.html#gaba3986ed0165435285d91f15552abbc5">TDataAssociationMetric</a> <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a97fe3497e9cbfebaaca22ce574153fd8">mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_metric</a></td>
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<p>Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood. </p>
<p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html#l00146">146</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html">CRangeBearingKFSLAM2D.h</a>.</p>
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<a class="anchor" id="af72baa99d012948804961a453cb1aee3"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_ml_threshold" ref="af72baa99d012948804961a453cb1aee3" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#af72baa99d012948804961a453cb1aee3">mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_ml_threshold</a></td>
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<p>Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) </p>
<p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html#l00147">147</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html">CRangeBearingKFSLAM2D.h</a>.</p>
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<a class="anchor" id="a92a94e39d6c5fcecd4bef9b577975e7f"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_method" ref="a92a94e39d6c5fcecd4bef9b577975e7f" args="" -->
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<td class="memname"><a class="el" href="group__data__assoc__grp.html#gaf66b40e2929429a8b181039f447caf84">TDataAssociationMethod</a> <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a92a94e39d6c5fcecd4bef9b577975e7f">mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_method</a></td>
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<p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html#l00143">143</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html">CRangeBearingKFSLAM2D.h</a>.</p>
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<a class="anchor" id="a979ab6aa5b5693a99cb1e1e6beb10c58"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_metric" ref="a979ab6aa5b5693a99cb1e1e6beb10c58" args="" -->
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<td class="memname"><a class="el" href="group__data__assoc__grp.html#gaba3986ed0165435285d91f15552abbc5">TDataAssociationMetric</a> <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a979ab6aa5b5693a99cb1e1e6beb10c58">mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_metric</a></td>
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<p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html#l00144">144</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html">CRangeBearingKFSLAM2D.h</a>.</p>
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<a class="anchor" id="a1d2b86a7683615f31fa62d86438fd0c6"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::quantiles_3D_representation" ref="a1d2b86a7683615f31fa62d86438fd0c6" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a1d2b86a7683615f31fa62d86438fd0c6">mrpt::slam::CRangeBearingKFSLAM2D::TOptions::quantiles_3D_representation</a></td>
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<p>Default = 3. </p>
<p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html#l00139">139</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html">CRangeBearingKFSLAM2D.h</a>.</p>
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<a class="anchor" id="aa42eeedf77e638a4abe6fad8e9767c92"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_range" ref="aa42eeedf77e638a4abe6fad8e9767c92" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#aa42eeedf77e638a4abe6fad8e9767c92">mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_range</a></td>
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<p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html#l00138">138</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html">CRangeBearingKFSLAM2D.h</a>.</p>
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<a class="anchor" id="a41b68b424ec93e6ec2a393be4177a489"></a><!-- doxytag: member="mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_yaw" ref="a41b68b424ec93e6ec2a393be4177a489" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a41b68b424ec93e6ec2a393be4177a489">mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_yaw</a></td>
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<p>The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians. </p>
<p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html#l00138">138</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html">CRangeBearingKFSLAM2D.h</a>.</p>
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<td class="memname"><a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> <a class="el" href="structmrpt_1_1slam_1_1_c_range_bearing_k_f_s_l_a_m2_d_1_1_t_options.html#a22ae065c8df9c77b554f6dc24978d853">mrpt::slam::CRangeBearingKFSLAM2D::TOptions::stds_Q_no_odo</a></td>
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<p>A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!) </p>
<p>Definition at line <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html#l00137">137</a> of file <a class="el" href="_c_range_bearing_k_f_s_l_a_m2_d_8h_source.html">CRangeBearingKFSLAM2D.h</a>.</p>
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