Detailed Description

Generic options for the Kalman Filter algorithm in itself.

Definition at line 58 of file CKalmanFilterCapable.h.

#include <mrpt/bayes/CKalmanFilterCapable.h>

Inheritance diagram for mrpt::bayes::TKF_options:

Public Member Functions
	TKF_options ()

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &iniFile, const std::string &section)
	This method load the options from a ".ini"-like file or memory-stored string list. More...

void	dumpToTextStream (CStream &out) const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream. More...

void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More...

virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
	This method saves the options to a ".ini"-like file or memory-stored string list. More...

void	saveToConfigFileName (const std::string &config_file, const std::string &section) const
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...

void	dumpToConsole () const
	Just like dumpToTextStream() but sending the text to the console (std::cout) More...

virtual void	dumpToTextStream (CStream &out) const
	This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...

Public Attributes
TKFMethod	method
	The method to employ (default: kfEKFNaive) More...

bool	verbose
	If set to true timing and other information will be dumped during the execution (default=false) More...

int	IKF_iterations
	Number of refinement iterations, only for the IKF method. More...

bool	enable_profiler
	If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution. More...

bool	use_analytic_transition_jacobian
	(default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel. More...

bool	use_analytic_observation_jacobian
	(default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel. More...

bool	debug_verify_analytic_jacobians
	(default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch. More...

double	debug_verify_analytic_jacobians_threshold
	(default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians More...

Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (CStream &out, const char *varName, float v)

static void	dumpVar_double (CStream &out, const char *varName, double v)

static void	dumpVar_bool (CStream &out, const char *varName, bool v)

static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

Constructor & Destructor Documentation

mrpt::bayes::TKF_options::TKF_options ( )

inline

Definition at line 60 of file CKalmanFilterCapable.h.

Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

void mrpt::bayes::TKF_options::dumpToTextStream ( CStream & out ) const

inline

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Definition at line 87 of file CKalmanFilterCapable.h.

References mrpt::utils::CStream::printf().

virtual void mrpt::utils::CLoadableOptions::dumpToTextStream ( CStream & out ) const

virtualinherited

This method should clearly display all the contents of the structure in textual form, sending it to a CStream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

static void mrpt::utils::CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void mrpt::utils::CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

void mrpt::bayes::TKF_options::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

inlinevirtual

This method load the options from a ".ini"-like file or memory-stored string list.

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" file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 72 of file CKalmanFilterCapable.h.

References MRPT_LOAD_CONFIG_VAR, and mrpt::utils::CConfigFileBase::read_enum().

void mrpt::utils::CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See also: loadFromConfigFile

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	target,
		const std::string &	section
	)		const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters, mrpt::reactivenav::CHolonomicND::TOptions, and mrpt::reactivenav::CHolonomicVFF::TOptions.

void mrpt::utils::CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See also: saveToConfigFile, loadFromConfigFileName

Member Data Documentation

bool mrpt::bayes::TKF_options::debug_verify_analytic_jacobians

(default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch.

Definition at line 104 of file CKalmanFilterCapable.h.

double mrpt::bayes::TKF_options::debug_verify_analytic_jacobians_threshold

(default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians

Definition at line 105 of file CKalmanFilterCapable.h.

bool mrpt::bayes::TKF_options::enable_profiler

If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution.

Definition at line 101 of file CKalmanFilterCapable.h.

int mrpt::bayes::TKF_options::IKF_iterations

Number of refinement iterations, only for the IKF method.

Definition at line 100 of file CKalmanFilterCapable.h.

TKFMethod mrpt::bayes::TKF_options::method

The method to employ (default: kfEKFNaive)

Definition at line 98 of file CKalmanFilterCapable.h.

bool mrpt::bayes::TKF_options::use_analytic_observation_jacobian

(default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel.

Definition at line 103 of file CKalmanFilterCapable.h.

bool mrpt::bayes::TKF_options::use_analytic_transition_jacobian

(default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel.

Definition at line 102 of file CKalmanFilterCapable.h.

bool mrpt::bayes::TKF_options::verbose

If set to true timing and other information will be dumped during the execution (default=false)

Definition at line 99 of file CKalmanFilterCapable.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation