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<title>mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions Class Reference</title>
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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">COccupancyGridMap2D</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html">TLikelihoodOptions</a> </li>
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<div class="title">mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions Class Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::COccupancyGridMap2D::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 observation likelihood computation process. </p>
</div>
<p><code>#include <<a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">mrpt/slam/COccupancyGridMap2D.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options_inherit__map" id="mrpt_1_1slam_1_1_c_occupancy_grid_map2_d_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="84,5,279,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_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="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#abde052077c84f94ad06f8250addef581">TLikelihoodOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initilization of default parameters. <a href="#abde052077c84f94ad06f8250addef581"></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_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a5a2f6002d1a5aaa1346f3317c4b1f280">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">This method load the options from a ".ini" file. <a href="#a5a2f6002d1a5aaa1346f3317c4b1f280"></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_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a88c21df905445cd9a51e0f39b2c5e444">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="#a88c21df905445cd9a51e0f39b2c5e444"></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="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a9c20551c74e17a4082c29572e56db5e1">TLikelihoodMethod</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a39d6d551160319f457e5b6d066a404fe">likelihoodMethod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The selected method to compute an observation likelihood. <a href="#a39d6d551160319f457e5b6d066a404fe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a902f17ece39c08b9f65287a4c37a535d">LF_stdHit</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35 <a href="#a902f17ece39c08b9f65287a4c37a535d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#aad37a8bc3999ccd038313f35f8dec3d7">LF_zHit</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5 <a href="#aad37a8bc3999ccd038313f35f8dec3d7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a505e23d909ec0b7e58390ec0c58bd2b4">LF_zRandom</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#ae288d31573d6f3a0b971588a0c25d096">LF_maxRange</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LikelihoodField] The max. <a href="#ae288d31573d6f3a0b971588a0c25d096"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a06ad81a426281bb6a284f59ea5e040f0">LF_decimation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation. <a href="#a06ad81a426281bb6a284f59ea5e040f0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a0c133e796b24da41290676cfc1533e79">LF_maxCorrsDistance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LikelihoodField] The max. <a href="#a0c133e796b24da41290676cfc1533e79"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a10b214930407193a449f9379ae9d2d18">LF_alternateAverageMethod</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product". <a href="#a10b214930407193a449f9379ae9d2d18"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#aaca8362859d3bea9f9723b3d2713f99b">MI_exponent</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[MI] The exponent in the MI likelihood computation. <a href="#aaca8362859d3bea9f9723b3d2713f99b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a6db09b33130cef9e623247b1350a77aa">MI_skip_rays</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[MI] The scan rays decimation: at every N rays, one will be used to compute the MI: <a href="#a6db09b33130cef9e623247b1350a77aa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a56b707f150f90c05b6706452e0ccd503">MI_ratio_max_distance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[MI] The ratio for the max. <a href="#a56b707f150f90c05b6706452e0ccd503"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#ac9665d7b553902e61758183ce24cb929">rayTracing_useDistanceFilter</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones. <a href="#ac9665d7b553902e61758183ce24cb929"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a140ece3d48c5b6dfece5e4b6ba500fde">rayTracing_decimation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges. <a href="#a140ece3d48c5b6dfece5e4b6ba500fde"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a12f4a31c5bb63bedd6e4e549cc7fb46d">rayTracing_stdHit</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[rayTracing] The laser range sigma. <a href="#a12f4a31c5bb63bedd6e4e549cc7fb46d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a17a40876f6ca8994776cb153d074fe11">consensus_takeEachRange</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges) <a href="#a17a40876f6ca8994776cb153d074fe11"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#ab1e509ec9d1e96ccb32d366078863f72">consensus_pow</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[Consensus] The power factor for the likelihood (default=5) <a href="#ab1e509ec9d1e96ccb32d366078863f72"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">std::vector</a>< float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#ab8f84c8066e19e73aec4d91556c48cd0">OWA_weights</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse. <a href="#ab8f84c8066e19e73aec4d91556c48cd0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#aff1e9eba8f8fa136f9d4f41c6718f521">enableLikelihoodCache</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false). <a href="#aff1e9eba8f8fa136f9d4f41c6718f521"></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="abde052077c84f94ad06f8250addef581"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::TLikelihoodOptions" ref="abde052077c84f94ad06f8250addef581" args="()" -->
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<td class="memname">mrpt::slam::COccupancyGridMap2D::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::COccupancyGridMap2D::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="a88c21df905445cd9a51e0f39b2c5e444"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream" ref="a88c21df905445cd9a51e0f39b2c5e444" args="(CStream &out) const " -->
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<td class="memname">void mrpt::slam::COccupancyGridMap2D::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>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::COccupancyGridMap2D::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>
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<a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::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="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::dumpVar_float" ref="a18862f2d04fc18dd2c2662331156189f" args="(CStream &out, const char *varName, float v)" -->
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<a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::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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<a class="anchor" id="a60b1c6599953f1d593e6a7b0421e5a77"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::dumpVar_string" ref="a60b1c6599953f1d593e6a7b0421e5a77" args="(CStream &out, const char *varName, const std::string &v)" -->
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<a class="anchor" id="a5a2f6002d1a5aaa1346f3317c4b1f280"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::loadFromConfigFile" ref="a5a2f6002d1a5aaa1346f3317c4b1f280" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::loadFromConfigFile </td>
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<p>This method load the options from a ".ini" file. </p>
<p>Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" <a href="file:">file:</a> </p>
<div class="fragment"><pre class="fragment"> [section]
<a class="code" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a16e113fd57e5dfaa69d293862eb22a89" title="Cell size, i.e.">resolution</a>=0.10 ; blah blah...
modeSelection=1 ; 0=blah, 1=blah,...
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<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::COccupancyGridMap2D::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::COccupancyGridMap2D::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::COccupancyGridMap2D::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="ab1e509ec9d1e96ccb32d366078863f72"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::consensus_pow" ref="ab1e509ec9d1e96ccb32d366078863f72" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#ab1e509ec9d1e96ccb32d366078863f72">mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::consensus_pow</a></td>
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<p>[Consensus] The power factor for the likelihood (default=5) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00681">681</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="a17a40876f6ca8994776cb153d074fe11"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::consensus_takeEachRange" ref="a17a40876f6ca8994776cb153d074fe11" args="" -->
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<td class="memname">int32_t <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a17a40876f6ca8994776cb153d074fe11">mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::consensus_takeEachRange</a></td>
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<p>[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00677">677</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="aff1e9eba8f8fa136f9d4f41c6718f521"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::enableLikelihoodCache" ref="aff1e9eba8f8fa136f9d4f41c6718f521" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#aff1e9eba8f8fa136f9d4f41c6718f521">mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::enableLikelihoodCache</a></td>
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<p>Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false). </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00689">689</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="a10b214930407193a449f9379ae9d2d18"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::LF_alternateAverageMethod" ref="a10b214930407193a449f9379ae9d2d18" args="" -->
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<p>[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product". </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00649">649</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="a06ad81a426281bb6a284f59ea5e040f0"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::LF_decimation" ref="a06ad81a426281bb6a284f59ea5e040f0" args="" -->
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<p>[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation. </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00641">641</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="a0c133e796b24da41290676cfc1533e79"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::LF_maxCorrsDistance" ref="a0c133e796b24da41290676cfc1533e79" args="" -->
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<p>[LikelihoodField] The max. </p>
<p>distance for searching correspondences around each sensed point </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00645">645</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<p>[LikelihoodField] The max. </p>
<p>range of the sensor (def=81meters) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00637">637</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<p>[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35 </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00629">629</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<p>[LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5 </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00633">633</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00633">633</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a9c20551c74e17a4082c29572e56db5e1">TLikelihoodMethod</a> <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#a39d6d551160319f457e5b6d066a404fe">mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::likelihoodMethod</a></td>
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<p>The selected method to compute an observation likelihood. </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00625">625</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<p>[MI] The exponent in the MI likelihood computation. </p>
<p>Default value = 5 </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00653">653</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<p>[MI] The ratio for the max. </p>
<p>distance used in the MI computation and in the insertion of scans, e.g. if set to 2.0 the MI will use twice the distance that the update distance. </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00661">661</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<p>[MI] The scan rays decimation: at every N rays, one will be used to compute the MI: </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00657">657</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<td class="memname"><a class="el" href="classstd_1_1vector.html">std::vector</a><float> <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_likelihood_options.html#ab8f84c8066e19e73aec4d91556c48cd0">mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::OWA_weights</a></td>
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<p>[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse. </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00685">685</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<p>[rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges. </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00669">669</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<p>[rayTracing] The laser range sigma. </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00673">673</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<p>[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones. </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00665">665</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.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>
