mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions Class Reference

Detailed Description

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

Definition at line 252 of file COccupancyGridMap3D.h.

#include <mrpt/maps/COccupancyGridMap3D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions:

Public Member Functions
	TLikelihoodOptions ()=default
void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
	This method load the options from a ".ini" file. More...
void	saveToConfigFile (mrpt::config::CConfigFileBase &c, const std::string &s) 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 &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...
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...
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
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 {20.0f}
	[LikelihoodField] The max. More...
uint32_t	LF_decimation {1}
	[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...
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...

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()

mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::TLikelihoodOptions ( )

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 CLoadableOptions::dumpToTextStream ( std::ostream &  out ) const

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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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 COccupancyGridMap3D::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 211 of file COccupancyGridMap3D_insert.cpp.

References iniFile(), LF_decimation, LF_maxCorrsDistance, LF_maxRange, LF_stdHit, LF_useSquareDist, LF_zHit, LF_zRandom, likelihoodMethod, MRPT_LOAD_CONFIG_VAR, rayTracing_decimation, and rayTracing_stdHit.

Referenced by mrpt::maps::COccupancyGridMap3D::TMapDefinition::loadFromConfigFile_map_specific().

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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 COccupancyGridMap3D::TLikelihoodOptions::saveToConfigFile ( mrpt::config::CConfigFileBase &  target, const std::string &  section  ) const

overridevirtual

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

See also

loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 229 of file COccupancyGridMap3D_insert.cpp.

References MRPT_SAVE_CONFIG_VAR_COMMENT.

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

LF_decimation

uint32_t mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_decimation {1}

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

Definition at line 287 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

LF_maxCorrsDistance

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_maxCorrsDistance {0.3f}

[LikelihoodField] The max.

distance for searching correspondences around each sensed point

Definition at line 290 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

LF_maxRange

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_maxRange {20.0f}

[LikelihoodField] The max.

range of the sensor (Default= 81 m)

Definition at line 284 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

LF_stdHit

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_stdHit {0.35f}

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

Definition at line 280 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

LF_useSquareDist

bool mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_useSquareDist {false}

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

Definition at line 293 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

LF_zHit

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_zHit {0.95f}

[LikelihoodField]

Definition at line 282 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

LF_zRandom

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::LF_zRandom {0.05f}

Definition at line 282 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

likelihoodMethod

TLikelihoodMethod mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::likelihoodMethod {lmLikelihoodField_Thrun}

The selected method to compute an observation likelihood.

Definition at line 277 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

rayTracing_decimation

int32_t mrpt::maps::COccupancyGridMap3D::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 297 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

rayTracing_stdHit

float mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions::rayTracing_stdHit {1.0f}

[rayTracing] The laser range sigma.

Definition at line 299 of file COccupancyGridMap3D.h.

Referenced by loadFromConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().