Detailed Description

With this struct options are provided to the observation likelihood computation process.

Definition at line 547 of file COccupancyGridMap2D.h.

#include <mrpt/maps/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions:

Public Member Functions
	TLikelihoodOptions ()
	Initilization of default parameters. More...

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
TLikelihoodMethod	likelihoodMethod {lmLikelihoodField_Thrun}
	The selected method to compute an observation likelihood. More...

float	LF_stdHit {0.35f}
	[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35 More...

float	LF_zHit {0.95f}
	[LikelihoodField] More...

float	LF_zRandom {0.05f}

float	LF_maxRange {81.0f}
	[LikelihoodField] The max. More...

uint32_t	LF_decimation {5}
	[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation More...

float	LF_maxCorrsDistance {0.3f}
	[LikelihoodField] The max. More...

bool	LF_useSquareDist {false}
	[LikelihoodField] (Default:false) Use `exp(dist^2/std^2)` instead of `exp(dist^2/std^2)` More...

bool	LF_alternateAverageMethod {false}
	[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product". More...

float	MI_exponent {2.5f}
	[MI] The exponent in the MI likelihood computation. More...

uint32_t	MI_skip_rays {10}
	[MI] The scan rays decimation: at every N rays, one will be used to compute the MI More...

float	MI_ratio_max_distance {1.5f}
	[MI] The ratio for the max. More...

bool	rayTracing_useDistanceFilter {true}
	[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones. More...

int32_t	rayTracing_decimation {10}
	[rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges. More...

float	rayTracing_stdHit {1.0f}
	[rayTracing] The laser range sigma. More...

int32_t	consensus_takeEachRange {1}
	[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges) More...

float	consensus_pow {5}
	[Consensus] The power factor for the likelihood (default=5) More...

std::vector< float >	OWA_weights
	[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse. More...

bool	enableLikelihoodCache {true}
	Enables the usage of a cache of likelihood values (for LF methods), if set to true (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

◆ TLikelihoodOptions()

COccupancyGridMap2D::TLikelihoodOptions::TLikelihoodOptions ( )

Initilization of default parameters.

Definition at line 812 of file COccupancyGridMap2D_likelihood.cpp.

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::TLikelihoodOptions::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 862 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::format(), mrpt::maps::COccupancyGridMap2D::lmCellsDifference, mrpt::maps::COccupancyGridMap2D::lmConsensus, mrpt::maps::COccupancyGridMap2D::lmConsensusOWA, mrpt::maps::COccupancyGridMap2D::lmLikelihoodField_II, mrpt::maps::COccupancyGridMap2D::lmLikelihoodField_Thrun, mrpt::maps::COccupancyGridMap2D::lmMeanInformation, mrpt::maps::COccupancyGridMap2D::lmRayTracing, and out.

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◆ 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::TLikelihoodOptions::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 821 of file COccupancyGridMap2D_likelihood.cpp.

References iniFile().

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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

◆ consensus_pow

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_pow {5}

[Consensus] The power factor for the likelihood (default=5)

Definition at line 615 of file COccupancyGridMap2D.h.

◆ consensus_takeEachRange

int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_takeEachRange {1}

[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)

Definition at line 613 of file COccupancyGridMap2D.h.

◆ enableLikelihoodCache

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::enableLikelihoodCache {true}

Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).

Definition at line 624 of file COccupancyGridMap2D.h.

◆ LF_alternateAverageMethod

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_alternateAverageMethod {false}

[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product".

Definition at line 591 of file COccupancyGridMap2D.h.

◆ LF_decimation

uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_decimation {5}

[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation

Definition at line 581 of file COccupancyGridMap2D.h.

◆ LF_maxCorrsDistance

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxCorrsDistance {0.3f}

[LikelihoodField] The max.

distance for searching correspondences around each sensed point

Definition at line 584 of file COccupancyGridMap2D.h.

◆ LF_maxRange

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxRange {81.0f}

[LikelihoodField] The max.

range of the sensor (Default= 81 m)

Definition at line 578 of file COccupancyGridMap2D.h.

◆ LF_stdHit

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_stdHit {0.35f}

[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35

Definition at line 574 of file COccupancyGridMap2D.h.

◆ LF_useSquareDist

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_useSquareDist {false}

[LikelihoodField] (Default:false) Use exp(dist^2/std^2) instead of exp(dist^2/std^2)

Definition at line 587 of file COccupancyGridMap2D.h.

◆ LF_zHit

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zHit {0.95f}

[LikelihoodField]

Definition at line 576 of file COccupancyGridMap2D.h.

◆ LF_zRandom

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zRandom {0.05f}

Definition at line 576 of file COccupancyGridMap2D.h.

◆ likelihoodMethod

TLikelihoodMethod mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::likelihoodMethod {lmLikelihoodField_Thrun}

The selected method to compute an observation likelihood.

Definition at line 571 of file COccupancyGridMap2D.h.

◆ MI_exponent

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_exponent {2.5f}

[MI] The exponent in the MI likelihood computation.

Default value = 5

Definition at line 594 of file COccupancyGridMap2D.h.

◆ MI_ratio_max_distance

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_ratio_max_distance {1.5f}

[MI] The ratio for the max.

distance used in the MI computation and in the insertion of scans, e.g. if set to 2.0 the MI will use twice the distance that the update distance.

Definition at line 601 of file COccupancyGridMap2D.h.

◆ MI_skip_rays

uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_skip_rays {10}

[MI] The scan rays decimation: at every N rays, one will be used to compute the MI

Definition at line 597 of file COccupancyGridMap2D.h.

◆ OWA_weights

std::vector<float> mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::OWA_weights

[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse.

Definition at line 620 of file COccupancyGridMap2D.h.

◆ rayTracing_decimation

int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_decimation {10}

[rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges.

Definition at line 608 of file COccupancyGridMap2D.h.

◆ rayTracing_stdHit

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_stdHit {1.0f}

[rayTracing] The laser range sigma.

Definition at line 610 of file COccupancyGridMap2D.h.

◆ rayTracing_useDistanceFilter

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_useDistanceFilter {true}

[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.

Definition at line 604 of file COccupancyGridMap2D.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TLikelihoodOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ consensus_pow

◆ consensus_takeEachRange

◆ enableLikelihoodCache

◆ LF_alternateAverageMethod

◆ LF_decimation

◆ LF_maxCorrsDistance

◆ LF_maxRange

◆ LF_stdHit

◆ LF_useSquareDist

◆ LF_zHit

◆ LF_zRandom

◆ likelihoodMethod

◆ MI_exponent

◆ MI_ratio_max_distance

◆ MI_skip_rays

◆ OWA_weights

◆ rayTracing_decimation

◆ rayTracing_stdHit

◆ rayTracing_useDistanceFilter