00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2009 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 #ifndef TKLDParams_H 00029 #define TKLDParams_H 00030 00031 #include <mrpt/utils/CLoadableOptions.h> 00032 00033 namespace mrpt 00034 { 00035 namespace slam 00036 { 00037 using namespace mrpt::utils; 00038 00041 class MRPTDLLIMPEXP TKLDParams : public utils::CLoadableOptions 00042 { 00043 public: 00044 TKLDParams(); 00045 00048 void loadFromConfigFile( 00049 const mrpt::utils::CConfigFileBase &source, 00050 const std::string §ion); 00051 00054 void dumpToTextStream( 00055 CStream &out); 00056 00057 00060 double KLD_binSize_XY, KLD_binSize_PHI, 00061 KLD_delta, KLD_epsilon; 00062 00065 unsigned int KLD_minSampleSize, KLD_maxSampleSize; 00066 00067 }; 00068 00069 } // End of namespace 00070 } // End of namespace 00071 00072 #endif
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