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mrpt::hmtslam::CHMTSLAM::TOptions Struct Reference

Detailed Description

A variety of options and configuration params (private, use loadOptions).

Definition at line 395 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CHMTSLAM::TOptions:
Inheritance graph

Public Member Functions

 TOptions ()
 Initialization of default params. 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

std::string LOG_OUTPUT_DIR
 [LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there. More...
 
int LOG_FREQUENCY
 [LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated. More...
 
TLSlamMethod SLAM_METHOD
 [LSLAM] The method to use for local SLAM More...
 
float SLAM_MIN_DIST_BETWEEN_OBS
 [LSLAM] Minimum distance (and heading) difference between observations inserted in the map. More...
 
float SLAM_MIN_HEADING_BETWEEN_OBS
 
float MIN_ODOMETRY_STD_XY
 [LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0) More...
 
float MIN_ODOMETRY_STD_PHI
 [LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0) More...
 
float VIEW3D_AREA_SPHERES_HEIGHT
 [VIEW3D] The height of the areas' spheres. More...
 
float VIEW3D_AREA_SPHERES_RADIUS
 [VIEW3D] The radius of the areas' spheres. More...
 
mrpt::math::CVectorFloat stds_Q_no_odo
 A 3-length vector with the std. More...
 
mrpt::slam::CIncrementalMapPartitioner::TOptions AA_options
 [AA] The options for the partitioning algorithm More...
 
mrpt::maps::TSetOfMetricMapInitializers defaultMapsInitializers
 The default set of maps to be created in each particle. More...
 
bayes::CParticleFilter::TParticleFilterOptions pf_options
 These params are used from every LMH object. More...
 
mrpt::slam::TKLDParams KLD_params
 
int random_seed
 0 means randomize, use any other value to have repetitive experiments. More...
 
vector_string TLC_detectors
 A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching. More...
 
CTopLCDetector_GridMatching::TOptions TLC_grid_options
 Options passed to this TLC constructor. More...
 
CTopLCDetector_FabMap::TOptions TLC_fabmap_options
 Options passed to this TLC constructor. 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

CHMTSLAM::TOptions::TOptions ( )

Initialization of default params.

Definition at line 270 of file CHMTSLAM_main.cpp.

References DEG2RAD.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CHMTSLAM::TOptions::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 338 of file CHMTSLAM_main.cpp.

References LOADABLEOPTS_DUMP_VAR, LOADABLEOPTS_DUMP_VAR_DEG, and mrpt::utils::CStream::printf().

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
void CHMTSLAM::TOptions::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 299 of file CHMTSLAM_main.cpp.

References ASSERT_, DEG2RAD, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT, MRPT_LOAD_CONFIG_VAR_DEGREES, RAD2DEG, mrpt::utils::CConfigFileBase::read_string(), mrpt::utils::CConfigFileBase::read_vector(), and mrpt::system::tokenize().

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

mrpt::slam::CIncrementalMapPartitioner::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::AA_options

[AA] The options for the partitioning algorithm

Definition at line 436 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction().

mrpt::maps::TSetOfMetricMapInitializers mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers

The default set of maps to be created in each particle.

Definition at line 438 of file CHMTSLAM.h.

mrpt::slam::TKLDParams mrpt::hmtslam::CHMTSLAM::TOptions::KLD_params

Definition at line 440 of file CHMTSLAM.h.

int mrpt::hmtslam::CHMTSLAM::TOptions::LOG_FREQUENCY

[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.

Definition at line 406 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::thread_LSLAM().

std::string mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR

[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there.

Definition at line 405 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::hmtslam::CHMTSLAM::thread_LSLAM().

float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_PHI

[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)

Definition at line 420 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_XY

[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)

Definition at line 417 of file CHMTSLAM.h.

bayes::CParticleFilter::TParticleFilterOptions mrpt::hmtslam::CHMTSLAM::TOptions::pf_options

These params are used from every LMH object.

Definition at line 439 of file CHMTSLAM.h.

int mrpt::hmtslam::CHMTSLAM::TOptions::random_seed

0 means randomize, use any other value to have repetitive experiments.

Definition at line 442 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), and mrpt::hmtslam::CHMTSLAM::thread_TBI().

TLSlamMethod mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_METHOD

[LSLAM] The method to use for local SLAM

Definition at line 410 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_DIST_BETWEEN_OBS

[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.

Definition at line 414 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_HEADING_BETWEEN_OBS

Definition at line 414 of file CHMTSLAM.h.

mrpt::math::CVectorFloat mrpt::hmtslam::CHMTSLAM::TOptions::stds_Q_no_odo

A 3-length vector with the std.

deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)

Definition at line 432 of file CHMTSLAM.h.

vector_string mrpt::hmtslam::CHMTSLAM::TOptions::TLC_detectors

A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching.

'fabmap': Mark Cummins' image matching framework.

Definition at line 448 of file CHMTSLAM.h.

CTopLCDetector_FabMap::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options

Options passed to this TLC constructor.

Definition at line 451 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CTopLCDetector_FabMap::CTopLCDetector_FabMap().

CTopLCDetector_GridMatching::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_grid_options

Options passed to this TLC constructor.

Definition at line 450 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_HEIGHT

[VIEW3D] The height of the areas' spheres.

Definition at line 424 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_RADIUS

[VIEW3D] The radius of the areas' spheres.

Definition at line 428 of file CHMTSLAM.h.




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