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mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams Struct Reference

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
struct mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams

Struct for storing together the parameters needed for ICP matching, laser scans visualization etc.

Definition at line 436 of file CLoopCloserERD.h.

#include <mrpt/graphslam/ERD/CLoopCloserERD.h>

Inheritance diagram for mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams:
Inheritance graph

Public Member Functions

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

mrpt::slam::CICP icp
 
int prev_nodes_for_ICP
 How many nodes back to check ICP against? More...
 
const mrpt::utils::TColor laser_scans_color
 see Constructor for initialization More...
 
bool visualize_laser_scans
 
std::string keystroke_laser_scans
 
bool use_scan_matching
 Indicate whethet to use scan-matching at all during graphSLAM [on by default]. More...
 
bool has_read_config
 
TSlidingWindow mahal_distance_ICP_odom_win
 Keep track of the mahalanobis distance between the initial pose difference and the suggested new edge for the pairs of checked nodes. More...
 
TSlidingWindow goodness_threshold_win
 Keep track of ICP Goodness values for ICP between nearby nodes and adapt the Goodness threshold based on the median of the recorded Goodness values. 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

template<class GRAPH_T >
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::TLaserParams ( )
template<class GRAPH_T >
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::~TLaserParams ( )

Definition at line 2336 of file CLoopCloserERD_impl.h.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
template<class GRAPH_T >
void mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::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 2339 of file CLoopCloserERD_impl.h.

References MRPT_END, MRPT_START, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::prev_nodes_for_ICP, mrpt::utils::CStream::printf(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::use_scan_matching, and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::visualize_laser_scans.

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
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().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
template<class GRAPH_T >
void mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::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 2353 of file CLoopCloserERD_impl.h.

References mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::has_read_config, MRPT_END, MRPT_START, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::prev_nodes_for_ICP, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_int(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::use_scan_matching, and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::visualize_laser_scans.

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::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams().

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

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
TSlidingWindow mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::goodness_threshold_win

Keep track of ICP Goodness values for ICP between nearby nodes and adapt the Goodness threshold based on the median of the recorded Goodness values.

Definition at line 476 of file CLoopCloserERD.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::addScanMatchingEdges(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::TLaserParams().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::has_read_config
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::slam::CICP mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::icp

Definition at line 446 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::keystroke_laser_scans
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const mrpt::utils::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::laser_scans_color

see Constructor for initialization

Definition at line 452 of file CLoopCloserERD.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initLaserScansVisualization().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
TSlidingWindow mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::mahal_distance_ICP_odom_win

Keep track of the mahalanobis distance between the initial pose difference and the suggested new edge for the pairs of checked nodes.

Definition at line 471 of file CLoopCloserERD.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::mahalanobisDistanceOdometryToICPEdge(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::TLaserParams().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::prev_nodes_for_ICP
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::use_scan_matching

Indicate whethet to use scan-matching at all during graphSLAM [on by default].

Warning
It is strongly recomended that the user does not set this to false (via the .ini file). graphSLAM may diverge significantly if no scan-matching is not used.

Definition at line 465 of file CLoopCloserERD.h.

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::loadFromConfigFile(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateState().

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::visualize_laser_scans



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