MRPT
2.0.0
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Algorithm options.
Definition at line 73 of file CHolonomicFullEval.h.
#include <mrpt/nav/holonomic/CHolonomicFullEval.h>
Public Member Functions | |
TOptions () | |
void | loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string §ion) override |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | saveToConfigFile (mrpt::config::CConfigFileBase &cfg, const std::string §ion) const override |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
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... | |
void | saveToConfigFileName (const std::string &config_file, const std::string §ion) 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... | |
virtual void | dumpToTextStream (std::ostream &out) const |
This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More... | |
Public Attributes | |
double | TOO_CLOSE_OBSTACLE {0.15} |
Directions with collision-free distances below this threshold are not elegible. More... | |
double | TARGET_SLOW_APPROACHING_DISTANCE {0.60} |
Start to reduce speed when closer than this to target [m]. More... | |
double | OBSTACLE_SLOW_DOWN_DISTANCE {0.15} |
Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance) More... | |
double | HYSTERESIS_SECTOR_COUNT {5} |
Range of "sectors" (directions) for hysteresis over successive timesteps. More... | |
std::vector< double > | factorWeights |
See docs above. More... | |
std::vector< int32_t > | factorNormalizeOrNot |
0/1 to normalize factors. More... | |
std::vector< std::vector< int32_t > > | PHASE_FACTORS |
Factor indices [0,4] for the factors to consider in each phase 1,2,...N of the movement decision (Defaults: PHASE1_FACTORS=0 1 2 , PHASE2_FACTORS= 3 4`) More... | |
std::vector< double > | PHASE_THRESHOLDS |
Phase 1,2,N-1... More... | |
bool | LOG_SCORE_MATRIX {false} |
(default:false, to save space) More... | |
double | clearance_threshold_ratio {0.05} |
Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction. More... | |
double | gap_width_ratio_threshold {0.25} |
Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target. More... | |
Static Protected Member Functions | |
static void | dumpVar_int (std::ostream &out, const char *varName, int v) |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More... | |
static void | dumpVar_float (std::ostream &out, const char *varName, float v) |
static void | dumpVar_double (std::ostream &out, const char *varName, double v) |
static void | dumpVar_bool (std::ostream &out, const char *varName, bool v) |
static void | dumpVar_string (std::ostream &out, const char *varName, const std::string &v) |
CHolonomicFullEval::TOptions::TOptions | ( | ) |
Definition at line 621 of file CHolonomicFullEval.cpp.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Definition at line 43 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::dumpToTextStream().
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::apps::CGridMapAlignerApp::run().
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virtualinherited |
This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMatchingOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CPointsMap::TRenderOptions, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::vision::TStereoSystemParams, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::bayes::TKF_options, mrpt::graphslam::TSlidingWindow, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::maps::TMetricMapInitializer, mrpt::slam::CMetricMapBuilderICP::TConfigParams, and mrpt::slam::TKLDParams.
Definition at line 76 of file CLoadableOptions.cpp.
References mrpt::config::CConfigFileMemory::getContent(), out, and mrpt::config::CLoadableOptions::saveToConfigFile().
Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific(), and mrpt::apps::ICP_SLAM_App_Base::run().
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staticprotectedinherited |
Definition at line 62 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Definition at line 56 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Definition at line 50 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
Definition at line 44 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Definition at line 69 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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overridevirtual |
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:
Implements mrpt::config::CLoadableOptions.
Definition at line 630 of file CHolonomicFullEval.cpp.
References ASSERT_, ASSERT_EQUAL_, mrpt::containers::empty(), mrpt::format(), MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_NO_DEFAULT, MRPT_START, NUM_FACTORS, mrpt::config::CConfigFileBase::read_double(), and mrpt::config::CConfigFileBase::read_vector().
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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.
Definition at line 22 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::loadFromConfigFile().
Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().
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overridevirtual |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented from mrpt::config::CLoadableOptions.
Definition at line 673 of file CHolonomicFullEval.cpp.
References ASSERT_EQUAL_, mrpt::format(), MRPT_END, MRPT_SAVE_CONFIG_VAR_COMMENT, mrpt::config::MRPT_SAVE_NAME_PADDING(), mrpt::config::MRPT_SAVE_VALUE_PADDING(), MRPT_START, NUM_FACTORS, mrpt::system::sprintf_container(), and mrpt::config::CConfigFileBase::write().
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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.
Definition at line 36 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::saveToConfigFile().
double mrpt::nav::CHolonomicFullEval::TOptions::clearance_threshold_ratio {0.05} |
Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction.
Definition at line 104 of file CHolonomicFullEval.h.
Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().
std::vector<int32_t> mrpt::nav::CHolonomicFullEval::TOptions::factorNormalizeOrNot |
0/1 to normalize factors.
Definition at line 89 of file CHolonomicFullEval.h.
Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().
std::vector<double> mrpt::nav::CHolonomicFullEval::TOptions::factorWeights |
See docs above.
Definition at line 87 of file CHolonomicFullEval.h.
Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().
double mrpt::nav::CHolonomicFullEval::TOptions::gap_width_ratio_threshold {0.25} |
Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target.
Definition at line 107 of file CHolonomicFullEval.h.
Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().
double mrpt::nav::CHolonomicFullEval::TOptions::HYSTERESIS_SECTOR_COUNT {5} |
Range of "sectors" (directions) for hysteresis over successive timesteps.
Definition at line 85 of file CHolonomicFullEval.h.
Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().
bool mrpt::nav::CHolonomicFullEval::TOptions::LOG_SCORE_MATRIX {false} |
(default:false, to save space)
Definition at line 99 of file CHolonomicFullEval.h.
double mrpt::nav::CHolonomicFullEval::TOptions::OBSTACLE_SLOW_DOWN_DISTANCE {0.15} |
Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance)
Definition at line 82 of file CHolonomicFullEval.h.
Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().
std::vector<std::vector<int32_t> > mrpt::nav::CHolonomicFullEval::TOptions::PHASE_FACTORS |
Factor indices [0,4] for the factors to consider in each phase 1,2,...N of the movement decision (Defaults: PHASE1_FACTORS=0 1 2
, PHASE2_FACTORS=
3 4`)
Definition at line 93 of file CHolonomicFullEval.h.
Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().
std::vector<double> mrpt::nav::CHolonomicFullEval::TOptions::PHASE_THRESHOLDS |
Phase 1,2,N-1...
scores must be above this relative range threshold [0,1] to be considered in phase 2 (Default:0.75
)
Definition at line 96 of file CHolonomicFullEval.h.
Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().
double mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE {0.60} |
Start to reduce speed when closer than this to target [m].
Definition at line 79 of file CHolonomicFullEval.h.
Referenced by mrpt::nav::CHolonomicFullEval::getTargetApproachSlowDownDistance(), mrpt::nav::CHolonomicFullEval::serializeFrom(), mrpt::nav::CHolonomicFullEval::serializeTo(), and mrpt::nav::CHolonomicFullEval::setTargetApproachSlowDownDistance().
double mrpt::nav::CHolonomicFullEval::TOptions::TOO_CLOSE_OBSTACLE {0.15} |
Directions with collision-free distances below this threshold are not elegible.
Definition at line 77 of file CHolonomicFullEval.h.
Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().
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