Detailed Description

Options for building a CMetricMapBuilderRBPF object, passed to the constructor.

Definition at line 70 of file CMetricMapBuilderRBPF.h.

#include <mrpt/slam/CMetricMapBuilderRBPF.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions:

Public Member Functions
	TConstructionOptions ()
	Constructor. More...

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

Public Attributes
float	insertionLinDistance

float	insertionAngDistance

float	localizeLinDistance

float	localizeAngDistance

bayes::CParticleFilter::TParticleFilterOptions	PF_options

mrpt::maps::TSetOfMetricMapInitializers	mapsInitializers

mrpt::maps::CMultiMetricMapPDF::TPredictionParams	predictionOptions

mrpt::utils::VerbosityLevel	verbosity_level

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

◆ TConstructionOptions()

CMetricMapBuilderRBPF::TConstructionOptions::TConstructionOptions ( )

Constructor.

Definition at line 485 of file CMetricMapBuilderRBPF.cpp.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

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().

◆ dumpToTextStream()

void CMetricMapBuilderRBPF::TConstructionOptions::dumpToTextStream ( mrpt::utils::CStream & out ) const

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 500 of file CMetricMapBuilderRBPF.cpp.

References mrpt::slam::CMetricMapBuilderRBPF::insertionAngDistance, mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeAngDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeLinDistance, mrpt::utils::CStream::printf(), and RAD2DEG.

◆ dumpVar_bool()

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

staticprotectedinherited

Definition at line 67 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ dumpVar_double()

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

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ dumpVar_float()

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

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ dumpVar_int()

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

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().

◆ dumpVar_string()

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

staticprotectedinherited

Definition at line 72 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

◆ loadFromConfigFile()

void CMetricMapBuilderRBPF::TConstructionOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

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:

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

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 523 of file CMetricMapBuilderRBPF.cpp.

References mrpt::slam::CMetricMapBuilderRBPF::insertionAngDistance, mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeAngDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeLinDistance, MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT, MRPT_START, and mrpt::utils::CConfigFileBase::read_enum().

◆ loadFromConfigFileName()

void 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

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

◆ saveToConfigFile()

void 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::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().

◆ saveToConfigFileName()

void 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

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

Member Data Documentation

◆ insertionAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::insertionAngDistance

Definition at line 79 of file CMetricMapBuilderRBPF.h.

◆ insertionLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::insertionLinDistance

Definition at line 78 of file CMetricMapBuilderRBPF.h.

◆ localizeAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::localizeAngDistance

Definition at line 82 of file CMetricMapBuilderRBPF.h.

◆ localizeLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::localizeLinDistance

Definition at line 81 of file CMetricMapBuilderRBPF.h.

◆ mapsInitializers

mrpt::maps::TSetOfMetricMapInitializers mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::mapsInitializers

Definition at line 86 of file CMetricMapBuilderRBPF.h.

◆ PF_options

bayes::CParticleFilter::TParticleFilterOptions mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::PF_options

Definition at line 84 of file CMetricMapBuilderRBPF.h.

◆ predictionOptions

mrpt::maps::CMultiMetricMapPDF::TPredictionParams mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::predictionOptions

Definition at line 87 of file CMetricMapBuilderRBPF.h.

◆ verbosity_level

mrpt::utils::VerbosityLevel mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::verbosity_level

Definition at line 88 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TConstructionOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ insertionAngDistance

◆ insertionLinDistance

◆ localizeAngDistance

◆ localizeLinDistance

◆ mapsInitializers

◆ PF_options

◆ predictionOptions

◆ verbosity_level