The options for the algorithm.
Definition at line 141 of file CRangeBearingKFSLAM.h.
#include <mrpt/slam/CRangeBearingKFSLAM.h>
Public Member Functions | |
TOptions () | |
Default values. More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE |
This method should clearly display 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 §ion) |
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 §ion) 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 §ion) 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... | |
Public Attributes | |
mrpt::math::CVectorFloat | stds_Q_no_odo |
A 7-length vector with the std. More... | |
float | std_sensor_range |
The std. More... | |
float | std_sensor_yaw |
float | std_sensor_pitch |
float | std_odo_z_additional |
Additional std. More... | |
bool | doPartitioningExperiment |
If set to true (default=false), map will be partitioned using the method stated by partitioningMethod. More... | |
float | quantiles_3D_representation |
Default = 3. More... | |
int | partitioningMethod |
Applicable only if "doPartitioningExperiment=true". More... | |
TDataAssociationMethod | data_assoc_method |
TDataAssociationMetric | data_assoc_metric |
double | data_assoc_IC_chi2_thres |
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99) More... | |
TDataAssociationMetric | data_assoc_IC_metric |
Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood. More... | |
double | data_assoc_IC_ml_threshold |
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) More... | |
bool | create_simplemap |
Whether to fill m_SFs (default=false) More... | |
bool | force_ignore_odometry |
Whether to ignore the input odometry and behave as if there was no odometry at all (default: false) 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) |
CRangeBearingKFSLAM::TOptions::TOptions | ( | ) |
|
inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Definition at line 47 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CHMTSLAM::loadOptions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().
|
virtual |
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.
Reimplemented from mrpt::utils::CLoadableOptions.
Definition at line 784 of file CRangeBearingKFSLAM.cpp.
References mrpt::utils::CStream::printf().
|
staticprotectedinherited |
Definition at line 67 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
|
staticprotectedinherited |
Definition at line 62 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
|
staticprotectedinherited |
Definition at line 57 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
|
staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
Definition at line 52 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
|
staticprotectedinherited |
Definition at line 72 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
|
virtual |
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:
Implements mrpt::utils::CLoadableOptions.
Definition at line 721 of file CRangeBearingKFSLAM.cpp.
References ASSERT_, create_simplemap, data_assoc_IC_chi2_thres, data_assoc_IC_metric, data_assoc_IC_ml_threshold, data_assoc_method, data_assoc_metric, DEG2RAD, doPartitioningExperiment, force_ignore_odometry, MRPT_LOAD_CONFIG_VAR, partitioningMethod, quantiles_3D_representation, RAD2DEG, std_odo_z_additional, std_sensor_pitch, std_sensor_range, std_sensor_yaw, and stds_Q_no_odo.
Referenced by mrpt::slam::CRangeBearingKFSLAM::loadOptions().
|
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.
Definition at line 23 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::loadFromConfigFile().
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().
|
virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.
Definition at line 31 of file CLoadableOptions.cpp.
References MRPT_UNUSED_PARAM.
Referenced by mrpt::utils::CLoadableOptions::dumpToTextStream(), and mrpt::utils::CLoadableOptions::saveToConfigFileName().
|
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.
Definition at line 39 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::saveToConfigFile().
bool mrpt::slam::CRangeBearingKFSLAM::TOptions::create_simplemap |
Whether to fill m_SFs (default=false)
Definition at line 177 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().
double mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_chi2_thres |
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)
Definition at line 173 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().
TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_metric |
Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.
Definition at line 174 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().
double mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_ml_threshold |
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)
Definition at line 175 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().
TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_method |
Definition at line 171 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().
TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_metric |
Definition at line 172 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().
bool mrpt::slam::CRangeBearingKFSLAM::TOptions::doPartitioningExperiment |
If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.
Definition at line 159 of file CRangeBearingKFSLAM.h.
Referenced by mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), mrpt::slam::CRangeBearingKFSLAM::getLastPartitionLandmarks(), loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().
bool mrpt::slam::CRangeBearingKFSLAM::TOptions::force_ignore_odometry |
Whether to ignore the input odometry and behave as if there was no odometry at all (default: false)
Definition at line 179 of file CRangeBearingKFSLAM.h.
Referenced by mrpt::slam::CRangeBearingKFSLAM::getIncrementFromOdometry(), loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise().
int mrpt::slam::CRangeBearingKFSLAM::TOptions::partitioningMethod |
Applicable only if "doPartitioningExperiment=true".
0: Automatically detect partition through graph-cut. N>=1: Cut every "N" observations.
Definition at line 168 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().
float mrpt::slam::CRangeBearingKFSLAM::TOptions::quantiles_3D_representation |
Default = 3.
Definition at line 162 of file CRangeBearingKFSLAM.h.
Referenced by mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), and loadFromConfigFile().
float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_odo_z_additional |
Additional std.
dev. to sum to the motion model in the z axis (useful when there is only 2D odometry and we want to put things hard to the algorithm) (default=0)
Definition at line 156 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise().
float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_pitch |
Definition at line 153 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM::OnPreComputingPredictions().
float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_range |
The std.
deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.
Definition at line 153 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM::OnPreComputingPredictions().
float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_yaw |
Definition at line 153 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM::OnPreComputingPredictions().
mrpt::math::CVectorFloat mrpt::slam::CRangeBearingKFSLAM::TOptions::stds_Q_no_odo |
A 7-length vector with the std.
deviation of the transition model in (x,y,z, qr,qx,qy,qz) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y z: In meters.
Definition at line 150 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), and TOptions().
Page generated by Doxygen 1.8.14 for MRPT 1.5.5 Git: e06b63dbf Fri Dec 1 14:41:11 2017 +0100 at lun oct 28 01:31:35 CET 2019 |