Main MRPT website > C++ reference for MRPT 1.5.7
List of all members | Public Member Functions | Public Attributes | Static Protected Member Functions
mrpt::slam::CRangeBearingKFSLAM2D::TOptions Struct Reference

Detailed Description

The options for the algorithm.

Definition at line 97 of file CRangeBearingKFSLAM2D.h.

#include <mrpt/slam/CRangeBearingKFSLAM2D.h>

Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM2D::TOptions:
Inheritance graph

Public Member Functions

 TOptions ()
 Default values. 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

mrpt::math::CVectorFloat 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!) More...
 
float std_sensor_range
 
float std_sensor_yaw
 The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians. More...
 
float quantiles_3D_representation
 Default = 3. More...
 
bool create_simplemap
 Whether to fill m_SFs (default=false) More...
 
TDataAssociationMethod data_assoc_method
 
TDataAssociationMetric data_assoc_metric
 
double data_assoc_IC_chi2_thres
 Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99) More...
 
TDataAssociationMetric data_assoc_IC_metric
 Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood. More...
 
double data_assoc_IC_ml_threshold
 Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) 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

CRangeBearingKFSLAM2D::TOptions::TOptions ( )

Default values.

Definition at line 721 of file CRangeBearingKFSLAM2D.cpp.

References DEG2RAD, and stds_Q_no_odo.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CRangeBearingKFSLAM2D::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 742 of file CRangeBearingKFSLAM2D.cpp.

References data_assoc_IC_chi2_thres, data_assoc_IC_metric, data_assoc_IC_ml_threshold, data_assoc_method, data_assoc_metric, 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 CRangeBearingKFSLAM2D::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 693 of file CRangeBearingKFSLAM2D.cpp.

References ASSERT_, DEG2RAD, MRPT_LOAD_CONFIG_VAR, RAD2DEG, mrpt::utils::CConfigFileBase::read_enum(), mrpt::utils::CConfigFileBase::read_float(), and mrpt::utils::CConfigFileBase::read_vector().

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::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::CRangeBearingKFSLAM2D::TOptions::create_simplemap

Whether to fill m_SFs (default=false)

Definition at line 108 of file CRangeBearingKFSLAM2D.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::processActionObservation().

double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_chi2_thres

Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)

Definition at line 113 of file CRangeBearingKFSLAM2D.h.

Referenced by dumpToTextStream(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_metric

Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.

Definition at line 114 of file CRangeBearingKFSLAM2D.h.

Referenced by dumpToTextStream(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_ml_threshold

Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)

Definition at line 115 of file CRangeBearingKFSLAM2D.h.

Referenced by dumpToTextStream(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_method
TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_metric
float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::quantiles_3D_representation

Default = 3.

Definition at line 107 of file CRangeBearingKFSLAM2D.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::getAs3DObject().

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_range
float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_yaw

The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.

Definition at line 106 of file CRangeBearingKFSLAM2D.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM2D::OnPreComputingPredictions().

mrpt::math::CVectorFloat mrpt::slam::CRangeBearingKFSLAM2D::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 105 of file CRangeBearingKFSLAM2D.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionNoise(), and TOptions().




Page generated by Doxygen 1.8.11 for MRPT 1.5.7 Git: 2190203 Tue May 15 02:01:15 2018 +0200 at miƩ may 16 12:40:16 CEST 2018