Detailed Description

A variety of options and configuration params (private, use loadOptions).

Definition at line 433 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CHMTSLAM::TOptions:

Public Member Functions
	TOptions ()
	Initialization of default params. More...

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
	This method load the options from a ".ini"-like file or memory-stored string list. 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
std::string	LOG_OUTPUT_DIR
	[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there. More...

int	LOG_FREQUENCY
	[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated. More...

TLSlamMethod	SLAM_METHOD
	[LSLAM] The method to use for local SLAM More...

float	SLAM_MIN_DIST_BETWEEN_OBS
	[LSLAM] Minimum distance (and heading) difference between observations inserted in the map. More...

float	SLAM_MIN_HEADING_BETWEEN_OBS

float	MIN_ODOMETRY_STD_XY
	[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0) More...

float	MIN_ODOMETRY_STD_PHI
	[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0) More...

float	VIEW3D_AREA_SPHERES_HEIGHT
	[VIEW3D] The height of the areas' spheres. More...

float	VIEW3D_AREA_SPHERES_RADIUS
	[VIEW3D] The radius of the areas' spheres. More...

mrpt::math::CVectorFloat	stds_Q_no_odo
	A 3-length vector with the std. More...

mrpt::slam::CIncrementalMapPartitioner::TOptions	AA_options
	[AA] The options for the partitioning algorithm More...

mrpt::maps::TSetOfMetricMapInitializers	defaultMapsInitializers
	The default set of maps to be created in each particle. More...

bayes::CParticleFilter::TParticleFilterOptions	pf_options
	These params are used from every LMH object. More...

mrpt::slam::TKLDParams	KLD_params

int	random_seed
	0 means randomize, use any other value to have repetitive experiments. More...

std::vector< std::string >	TLC_detectors
	A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching. More...

CTopLCDetector_GridMatching::TOptions	TLC_grid_options
	Options passed to this TLC constructor. More...

CTopLCDetector_FabMap::TOptions	TLC_fabmap_options
	Options passed to this TLC constructor. 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

◆ TOptions()

CHMTSLAM::TOptions::TOptions ( )

Initialization of default params.

Definition at line 261 of file CHMTSLAM_main.cpp.

References mrpt::DEG2RAD().

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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 CHMTSLAM::TOptions::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 329 of file CHMTSLAM_main.cpp.

References LOADABLEOPTS_DUMP_VAR, LOADABLEOPTS_DUMP_VAR_DEG, 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 CHMTSLAM::TOptions::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

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:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 289 of file CHMTSLAM_main.cpp.

References ASSERT_, mrpt::DEG2RAD(), MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT, MRPT_LOAD_CONFIG_VAR_DEGREES, mrpt::RAD2DEG(), mrpt::config::CConfigFileBase::read_string(), mrpt::config::CConfigFileBase::read_vector(), and mrpt::system::tokenize().

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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

◆ AA_options

mrpt::slam::CIncrementalMapPartitioner::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::AA_options

[AA] The options for the partitioning algorithm

Definition at line 486 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction().

◆ defaultMapsInitializers

mrpt::maps::TSetOfMetricMapInitializers mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers

The default set of maps to be created in each particle.

Definition at line 489 of file CHMTSLAM.h.

◆ KLD_params

mrpt::slam::TKLDParams mrpt::hmtslam::CHMTSLAM::TOptions::KLD_params

Definition at line 492 of file CHMTSLAM.h.

◆ LOG_FREQUENCY

int mrpt::hmtslam::CHMTSLAM::TOptions::LOG_FREQUENCY

[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.

Definition at line 450 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::thread_LSLAM().

◆ LOG_OUTPUT_DIR

std::string mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR

[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there.

Definition at line 447 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::hmtslam::CHMTSLAM::thread_LSLAM().

◆ MIN_ODOMETRY_STD_PHI

float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_PHI

[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)

Definition at line 467 of file CHMTSLAM.h.

◆ MIN_ODOMETRY_STD_XY

float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_XY

[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)

Definition at line 463 of file CHMTSLAM.h.

◆ pf_options

bayes::CParticleFilter::TParticleFilterOptions mrpt::hmtslam::CHMTSLAM::TOptions::pf_options

These params are used from every LMH object.

Definition at line 491 of file CHMTSLAM.h.

◆ random_seed

int mrpt::hmtslam::CHMTSLAM::TOptions::random_seed

0 means randomize, use any other value to have repetitive experiments.

Definition at line 496 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), and mrpt::hmtslam::CHMTSLAM::thread_TBI().

◆ SLAM_METHOD

TLSlamMethod mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_METHOD

[LSLAM] The method to use for local SLAM

Definition at line 454 of file CHMTSLAM.h.

◆ SLAM_MIN_DIST_BETWEEN_OBS

float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_DIST_BETWEEN_OBS

[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.

Definition at line 459 of file CHMTSLAM.h.

◆ SLAM_MIN_HEADING_BETWEEN_OBS

float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_HEADING_BETWEEN_OBS

Definition at line 459 of file CHMTSLAM.h.

◆ stds_Q_no_odo

mrpt::math::CVectorFloat mrpt::hmtslam::CHMTSLAM::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 482 of file CHMTSLAM.h.

◆ TLC_detectors

std::vector<std::string> mrpt::hmtslam::CHMTSLAM::TOptions::TLC_detectors

A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching.

'fabmap': Mark Cummins' image matching framework.

Definition at line 503 of file CHMTSLAM.h.

◆ TLC_fabmap_options

CTopLCDetector_FabMap::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options

Options passed to this TLC constructor.

Definition at line 508 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CTopLCDetector_FabMap::CTopLCDetector_FabMap().

◆ TLC_grid_options

CTopLCDetector_GridMatching::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_grid_options

Options passed to this TLC constructor.

Definition at line 506 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

◆ VIEW3D_AREA_SPHERES_HEIGHT

float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_HEIGHT

[VIEW3D] The height of the areas' spheres.

Definition at line 471 of file CHMTSLAM.h.

◆ VIEW3D_AREA_SPHERES_RADIUS

float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_RADIUS

[VIEW3D] The radius of the areas' spheres.

Definition at line 475 of file CHMTSLAM.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ AA_options

◆ defaultMapsInitializers

◆ KLD_params

◆ LOG_FREQUENCY

◆ LOG_OUTPUT_DIR

◆ MIN_ODOMETRY_STD_PHI

◆ MIN_ODOMETRY_STD_XY

◆ pf_options

◆ random_seed

◆ SLAM_METHOD

◆ SLAM_MIN_DIST_BETWEEN_OBS

◆ SLAM_MIN_HEADING_BETWEEN_OBS

◆ stds_Q_no_odo

◆ TLC_detectors

◆ TLC_fabmap_options

◆ TLC_grid_options

◆ VIEW3D_AREA_SPHERES_HEIGHT

◆ VIEW3D_AREA_SPHERES_RADIUS