class mola::NavStateFGParams

Overview

Parameters needed by NavStateFG.

#include <NavStateFGParams.h>

class NavStateFGParams
{
public:
    // fields

    double max_time_to_use_velocity_model = 2.0;
    double sliding_window_length = 5.0;
    double time_between_frames_to_warning = 3.0;
    double sigma_random_walk_acceleration_linear = 1.0;
    double sigma_random_walk_acceleration_angular = 1.0;
    double sigma_integrator_position = 0.10;
    double sigma_integrator_orientation = 0.10;
    double robust_param = 0.0;
    double max_rmse = 2.0;
    mrpt::math::TTwist3D initial_twist;
    double initial_twist_sigma_lin = 20.0;
    double initial_twist_sigma_ang = 3.0;

    // methods

    void loadFrom(const mrpt::containers::yaml& cfg);
};

Fields

double max_time_to_use_velocity_model = 2.0

Valid estimations will be extrapolated only up to this time since the last incorporated observation. If a request is done farther away, an empty estimation will be returned.

double sliding_window_length = 5.0

Time to keep past observations in the filter.

double time_between_frames_to_warning = 3.0

If the time between two keyframes is larger than this, a warning will be emitted; but the algorithm will keep trying its best.

Methods

void loadFrom(const mrpt::containers::yaml& cfg)

Loads all parameters from a YAML map node.