TKLDParams.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2014, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
#ifndef TKLDParams_H
#define TKLDParams_H

#include <mrpt/utils/CLoadableOptions.h>

#include <mrpt/slam/link_pragmas.h>

namespace mrpt
{
        namespace slam
        {
                using namespace mrpt::utils;

                /** Option set for KLD algorithm.  \ingroup mrpt_slam_grp 
                  */
                class SLAM_IMPEXP TKLDParams : public utils::CLoadableOptions
                {
                public:
                        TKLDParams();

                        /** See utils::CLoadableOptions
                          */
                        void  loadFromConfigFile(
                                const mrpt::utils::CConfigFileBase  &source,
                                const std::string &section);

                        /** See utils::CLoadableOptions
                          */
                        void  dumpToTextStream(CStream  &out) const;


                        /** Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
                          */
                        double  KLD_binSize_XY, KLD_binSize_PHI,
                                        KLD_delta, KLD_epsilon;

                        /** Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.
                          */
                        unsigned int    KLD_minSampleSize, KLD_maxSampleSize;

                        /** (Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * #ofBinsOccupied in the last time step */
                        double  KLD_minSamplesPerBin; 

                };

        } // End of namespace
} // End of namespace

#endif