Detailed Description

With this struct options are provided to the observation insertion process.

See also: CObservation::insertIntoGridMap

Definition at line 466 of file COccupancyGridMap2D.h.

#include <mrpt/maps/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap2D::TInsertionOptions:

Public Member Functions
	TInsertionOptions ()=default

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
	This method load the options from a ".ini" file. More...

void	dumpToTextStream (std::ostream &out) const override
	This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. 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::config::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	mapAltitude {0}
	The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map! More...

bool	useMapAltitude {false}
	The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true. More...

float	maxDistanceInsertion {15.0f}
	The largest distance at which cells will be updated (Default 15 meters) More...

float	maxOccupancyUpdateCertainty {0.65f}
	A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8) More...

float	maxFreenessUpdateCertainty {.0f}
	A value in the range [0.5,1] for updating a free cell. More...

float	maxFreenessInvalidRanges {.0f}
	Like maxFreenessUpdateCertainty, but for invalid ranges (no echo). More...

bool	considerInvalidRangesAsFreeSpace {true}
	If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray. More...

uint16_t	decimation {1}
	Specify the decimation of the range scan (default=1 : take all the range values!) More...

float	horizontalTolerance {mrpt::DEG2RAD(0.05f)}
	The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0). More...

float	CFD_features_gaussian_size {1}
	Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled) More...

float	CFD_features_median_size {3}
	Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled) More...

bool	wideningBeamsWithDistance {false}
	Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false) 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)

Constructor & Destructor Documentation

◆ TInsertionOptions()

mrpt::maps::COccupancyGridMap2D::TInsertionOptions::TInsertionOptions ( )

default

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

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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◆ dumpToTextStream()

void COccupancyGridMap2D::TInsertionOptions::dumpToTextStream ( std::ostream & out ) const

overridevirtual

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 from mrpt::config::CLoadableOptions.

Definition at line 1346 of file COccupancyGridMap2D_insert.cpp.

References LOADABLEOPTS_DUMP_VAR, and out.

◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	std::ostream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	std::ostream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 56 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	std::ostream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 50 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	std::ostream &	out,
		const char *	varName,
		int	v
	)

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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◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	std::ostream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 69 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ loadFromConfigFile()

void COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

overridevirtual

This method load the options from a ".ini" file.

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,...

Implements mrpt::config::CLoadableOptions.

Definition at line 1324 of file COccupancyGridMap2D_insert.cpp.

References iniFile(), MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREESf.

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◆ loadFromConfigFileName()

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 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile	(	mrpt::config::CConfigFileBase &	target,
		const std::string &	section
	)		const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::maps::COccupancyGridMap3D::TInsertionOptions, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::maps::TMapGenericParams, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::maps::TMetricMapInitializer, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.

Definition at line 29 of file CLoadableOptions.cpp.

Referenced by mrpt::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::CLoadableOptions::saveToConfigFileName().

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◆ saveToConfigFileName()

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 36 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

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Member Data Documentation

◆ CFD_features_gaussian_size

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_gaussian_size {1}

Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled)

Definition at line 519 of file COccupancyGridMap2D.h.

◆ CFD_features_median_size

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_median_size {3}

Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled)

Definition at line 522 of file COccupancyGridMap2D.h.

◆ considerInvalidRangesAsFreeSpace

bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::considerInvalidRangesAsFreeSpace {true}

If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray.

Definition at line 509 of file COccupancyGridMap2D.h.

◆ decimation

uint16_t mrpt::maps::COccupancyGridMap2D::TInsertionOptions::decimation {1}

Specify the decimation of the range scan (default=1 : take all the range values!)

Definition at line 512 of file COccupancyGridMap2D.h.

◆ horizontalTolerance

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::horizontalTolerance {mrpt::DEG2RAD(0.05f)}

The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0).

Definition at line 516 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood().

◆ mapAltitude

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::mapAltitude {0}

The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map!

Definition at line 490 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ maxDistanceInsertion

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxDistanceInsertion {15.0f}

The largest distance at which cells will be updated (Default 15 meters)

Definition at line 496 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::CGridMapAlignerApp::run().

◆ maxFreenessInvalidRanges

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxFreenessInvalidRanges {.0f}

Like maxFreenessUpdateCertainty, but for invalid ranges (no echo).

(default=0 means same than maxOccupancyUpdateCertainty)

Definition at line 505 of file COccupancyGridMap2D.h.

◆ maxFreenessUpdateCertainty

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxFreenessUpdateCertainty {.0f}

A value in the range [0.5,1] for updating a free cell.

(default=0 means use the same than maxOccupancyUpdateCertainty)

Definition at line 502 of file COccupancyGridMap2D.h.

◆ maxOccupancyUpdateCertainty

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxOccupancyUpdateCertainty {0.65f}

A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8)

Definition at line 499 of file COccupancyGridMap2D.h.

Referenced by mrpt::apps::CGridMapAlignerApp::run().

◆ useMapAltitude

bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::useMapAltitude {false}

The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true.

Definition at line 493 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ wideningBeamsWithDistance

bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::wideningBeamsWithDistance {false}

Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false)

Definition at line 525 of file COccupancyGridMap2D.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TInsertionOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ CFD_features_gaussian_size

◆ CFD_features_median_size

◆ considerInvalidRangesAsFreeSpace

◆ decimation

◆ horizontalTolerance

◆ mapAltitude

◆ maxDistanceInsertion

◆ maxFreenessInvalidRanges

◆ maxFreenessUpdateCertainty

◆ maxOccupancyUpdateCertainty

◆ useMapAltitude

◆ wideningBeamsWithDistance