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mrpt::maps::CMultiMetricMapPDF::TPredictionParams Struct Reference

Detailed Description

The struct for passing extra simulation parameters to the prediction/update stage when running a particle filter.

See also
prediction_and_update

Definition at line 107 of file maps/CMultiMetricMapPDF.h.

#include <mrpt/maps/CMultiMetricMapPDF.h>

Inheritance diagram for mrpt::maps::CMultiMetricMapPDF::TPredictionParams:
Inheritance graph

Public Member Functions

 TPredictionParams ()
 Default settings method. 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

int pfOptimalProposal_mapSelection
 [pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal") Select the map on which to calculate the optimal proposal distribution. More...
 
float ICPGlobalAlign_MinQuality
 [prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum quality ratio [0,1] of the alignment such as it will be accepted. More...
 
COccupancyGridMap2D::TLikelihoodOptions update_gridMapLikelihoodOptions
 [update stage] If the likelihood is computed through the occupancy grid map, then this structure is passed to the map when updating the particles weights in the update stage. More...
 
mrpt::slam::TKLDParams KLD_params
 
mrpt::slam::CICP::TConfigParams icp_params
 ICP parameters, used only when "PF_algorithm=2" in the particle filter. 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

Default settings method.

Definition at line 625 of file CMultiMetricMapPDF.cpp.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CMultiMetricMapPDF::TPredictionParams::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 637 of file CMultiMetricMapPDF.cpp.

References mrpt::slam::TKLDParams::dumpToTextStream(), mrpt::slam::CICP::TConfigParams::dumpToTextStream(), icp_params, ICPGlobalAlign_MinQuality, KLD_params, pfOptimalProposal_mapSelection, and mrpt::utils::CStream::printf().

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

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 CMultiMetricMapPDF::TPredictionParams::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 652 of file CMultiMetricMapPDF.cpp.

References icp_params, ICPGlobalAlign_MinQuality, KLD_params, mrpt::slam::TKLDParams::loadFromConfigFile(), mrpt::slam::CICP::TConfigParams::loadFromConfigFile(), MRPT_LOAD_CONFIG_VAR, pfOptimalProposal_mapSelection, and mrpt::utils::CConfigFileBase::read_int().

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

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::CICP::TConfigParams mrpt::maps::CMultiMetricMapPDF::TPredictionParams::icp_params

ICP parameters, used only when "PF_algorithm=2" in the particle filter.

Definition at line 137 of file maps/CMultiMetricMapPDF.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::maps::CMultiMetricMapPDF::TPredictionParams::ICPGlobalAlign_MinQuality

[prediction stage][pf optimal proposal only] If useICPGlobalAlign_withGrid=true, this is the minimum quality ratio [0,1] of the alignment such as it will be accepted.

Otherwise, raw odometry is used for those bad cases (default=0.7).

Definition at line 129 of file maps/CMultiMetricMapPDF.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

mrpt::slam::TKLDParams mrpt::maps::CMultiMetricMapPDF::TPredictionParams::KLD_params

Definition at line 135 of file maps/CMultiMetricMapPDF.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

int mrpt::maps::CMultiMetricMapPDF::TPredictionParams::pfOptimalProposal_mapSelection

[pf optimal proposal only] Only for PF algorithm=2 (Exact "pfOptimalProposal") Select the map on which to calculate the optimal proposal distribution.

Values: 0: Gridmap -> Uses Scan matching-based approximation (based on Stachniss' work) 1: Landmarks -> Uses matching to approximate optimal 2: Beacons -> Used for exact optimal proposal in RO-SLAM 3: Pointsmap -> Uses Scan matching-based approximation with a map of points (based on Stachniss' work) Default = 0

Definition at line 124 of file maps/CMultiMetricMapPDF.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

COccupancyGridMap2D::TLikelihoodOptions mrpt::maps::CMultiMetricMapPDF::TPredictionParams::update_gridMapLikelihoodOptions

[update stage] If the likelihood is computed through the occupancy grid map, then this structure is passed to the map when updating the particles weights in the update stage.

Definition at line 133 of file maps/CMultiMetricMapPDF.h.




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