TMonteCarloLocalizationParams.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 TMonteCarloLocalizationParams_H
#define TMonteCarloLocalizationParams_H

#include <mrpt/slam/CMetricMap.h>
#include <mrpt/slam/TKLDParams.h>

#include <mrpt/slam/link_pragmas.h>

namespace mrpt
{
        namespace slam
        {
                /** The struct for passing extra simulation parameters to the prediction stage
                        *    when running a particle filter.
                        *   \ingroup mrpt_slam_grp
                        */
                struct SLAM_IMPEXP TMonteCarloLocalizationParams
                {
                        /** Default settings method.
                                */
                        TMonteCarloLocalizationParams();

                        /** Copy constructor: take care of knowing what you do, since this copies pointers. */
                        TMonteCarloLocalizationParams( const TMonteCarloLocalizationParams &o );

                        /** Copy operator: take care of knowing what you do, since this copies pointers. */
                        TMonteCarloLocalizationParams & operator =(const TMonteCarloLocalizationParams &o);

                        /** [update stage] Must be set to a metric map used to estimate the likelihood of observations
                                */
                        CMetricMap                      *metricMap;

                        /** [update stage] Alternative way (if metricMap==NULL): A metric map is supplied for each particle: There must be the same maps here as pose m_particles.
                                */
                        TMetricMapList          metricMaps;

                        TKLDParams                      KLD_params; //!< Parameters for dynamic sample size, KLD method.
                };

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

#endif