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mrpt::slam::CIncrementalMapPartitioner::TOptions Struct Reference

Detailed Description

Configuration of the algorithm:

Definition at line 47 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner::TOptions:
Inheritance graph

Public Member Functions

 TOptions ()
 
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 partitionThreshold
 The partition threshold for bisection in range [0,2], default=1.0. More...
 
float gridResolution
 
float minDistForCorrespondence
 
float minMahaDistForCorrespondence
 
bool forceBisectionOnly
 
bool useMapMatching
 If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs. More...
 
int minimumNumberElementsEachCluster
 If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1). 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

CIncrementalMapPartitioner::TOptions::TOptions ( )

Definition at line 64 of file CIncrementalMapPartitioner.cpp.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CIncrementalMapPartitioner::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 95 of file CIncrementalMapPartitioner.cpp.

References forceBisectionOnly, gridResolution, minDistForCorrespondence, minimumNumberElementsEachCluster, partitionThreshold, mrpt::utils::CStream::printf(), and useMapMatching.

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 CIncrementalMapPartitioner::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 76 of file CIncrementalMapPartitioner.cpp.

References forceBisectionOnly, gridResolution, minDistForCorrespondence, minimumNumberElementsEachCluster, MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_START, partitionThreshold, and useMapMatching.

Referenced by mrpt::slam::CRangeBearingKFSLAM::loadOptions().

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

bool mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly
float mrpt::slam::CIncrementalMapPartitioner::TOptions::gridResolution

Definition at line 66 of file CIncrementalMapPartitioner.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::slam::CIncrementalMapPartitioner::TOptions::minDistForCorrespondence
int mrpt::slam::CIncrementalMapPartitioner::TOptions::minimumNumberElementsEachCluster

If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).

Definition at line 92 of file CIncrementalMapPartitioner.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::slam::CIncrementalMapPartitioner::updatePartitions().

float mrpt::slam::CIncrementalMapPartitioner::TOptions::minMahaDistForCorrespondence
float mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold

The partition threshold for bisection in range [0,2], default=1.0.

Definition at line 61 of file CIncrementalMapPartitioner.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::slam::CIncrementalMapPartitioner::updatePartitions().

bool mrpt::slam::CIncrementalMapPartitioner::TOptions::useMapMatching

If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.

Definition at line 87 of file CIncrementalMapPartitioner.h.

Referenced by mrpt::slam::CIncrementalMapPartitioner::clear(), dumpToTextStream(), loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::reset().




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