Detailed Description

Parameters common to any derived class.

Derived classes should derive a new struct from this one, plus "public utils::CLoadableOptions", and call the internal_* methods where appropiate to deal with the variables declared here. Derived classes instantions of their "TInsertionOptions" MUST set the pointer "m_insertOptions_common" upon construction.

Definition at line 242 of file CRandomFieldGridMap2D.h.

#include <mrpt/maps/CRandomFieldGridMap2D.h>

Inheritance diagram for mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon:

Public Member Functions
	TInsertionOptionsCommon ()
	Default values loader. More...

void	internal_loadFromConfigFile_common (const mrpt::config::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions. More...

void	internal_dumpToTextStream_common (std::ostream &out) const
	See utils::CLoadableOptions. More...

Public Attributes
Kernel methods (mrKernelDM, mrKernelDMV)
float	sigma {0.15f}
	The sigma of the "Parzen"-kernel Gaussian. More...

float	cutoffRadius
	The cutoff radius for updating cells. More...

float	R_min {0}
	Limits for normalization of sensor readings. More...

float	R_max {3}

double	dm_sigma_omega {0.05}
	[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) More...

Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate)
float	KF_covSigma {0.35f}
	The "sigma" for the initial covariance value between cells (in meters). More...

float	KF_initialCellStd {1.0}
	The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units). More...

float	KF_observationModelNoise {0}
	The sensor model noise (in normalized concentration units). More...

float	KF_defaultCellMeanValue {0}
	The default value for the mean of cells' concentration. More...

uint16_t	KF_W_size {4}
	[mrKalmanApproximate] The size of the window of neighbor cells. More...

Gaussian Markov Random Fields methods (mrGMRF_SD)
double	GMRF_lambdaPrior {0.01f}
	The information (Lambda) of fixed map constraints. More...

double	GMRF_lambdaObs {10.0f}
	The initial information (Lambda) of each observation (this information will decrease with time) More...

double	GMRF_lambdaObsLoss {0.0f}
	The loss of information of the observations with each iteration. More...

bool	GMRF_use_occupancy_information {false}
	whether to use information of an occupancy_gridmap map for building the GMRF More...

std::string	GMRF_simplemap_file
	simplemap_file name of the occupancy_gridmap More...

std::string	GMRF_gridmap_image_file
	image name of the occupancy_gridmap More...

double	GMRF_gridmap_image_res {0.01f}
	occupancy_gridmap resolution: size of each pixel (m) More...

size_t	GMRF_gridmap_image_cx {0}
	Pixel coordinates of the origin for the occupancy_gridmap. More...

size_t	GMRF_gridmap_image_cy {0}
	Pixel coordinates of the origin for the occupancy_gridmap. More...

double	GMRF_saturate_min
	(Default:-inf,+inf) Saturate the estimated mean in these limits More...

double	GMRF_saturate_max

bool	GMRF_skip_variance {false}
	(Default:false) Skip the computation of the variance, just compute the mean More...

Constructor & Destructor Documentation

◆ TInsertionOptionsCommon()

CRandomFieldGridMap2D::TInsertionOptionsCommon::TInsertionOptionsCommon ( )

Default values loader.

Definition at line 672 of file CRandomFieldGridMap2D.cpp.

Member Function Documentation

◆ internal_dumpToTextStream_common()

void CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common ( std::ostream & out ) const

See utils::CLoadableOptions.

Definition at line 688 of file CRandomFieldGridMap2D.cpp.

References mrpt::format(), and out.

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◆ internal_loadFromConfigFile_common()

void CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

See utils::CLoadableOptions.

Definition at line 745 of file CRandomFieldGridMap2D.cpp.

References iniFile(), and MRPT_LOAD_CONFIG_VAR.

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Member Data Documentation

◆ cutoffRadius

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius

The cutoff radius for updating cells.

Definition at line 260 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ dm_sigma_omega

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega {0.05}

[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D)

Definition at line 265 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), and mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV().

◆ GMRF_gridmap_image_cx

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cx {0}

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 305 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_cy

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cy {0}

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 307 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_file

image name of the occupancy_gridmap

Definition at line 301 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_res

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_res {0.01f}

occupancy_gridmap resolution: size of each pixel (m)

Definition at line 303 of file CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObs

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObs {10.0f}

The initial information (Lambda) of each observation (this information will decrease with time)

Definition at line 291 of file CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObsLoss

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObsLoss {0.0f}

The loss of information of the observations with each iteration.

Definition at line 293 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_lambdaPrior

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaPrior {0.01f}

The information (Lambda) of fixed map constraints.

Definition at line 288 of file CRandomFieldGridMap2D.h.

◆ GMRF_saturate_max

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max

Definition at line 310 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_saturate_min

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min

(Default:-inf,+inf) Saturate the estimated mean in these limits

Definition at line 310 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_simplemap_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_simplemap_file

simplemap_file name of the occupancy_gridmap

Definition at line 299 of file CRandomFieldGridMap2D.h.

◆ GMRF_skip_variance

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_skip_variance {false}

(Default:false) Skip the computation of the variance, just compute the mean

Definition at line 313 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_use_occupancy_information

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_use_occupancy_information {false}

whether to use information of an occupancy_gridmap map for building the GMRF

Definition at line 297 of file CRandomFieldGridMap2D.h.

◆ KF_covSigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma {0.35f}

The "sigma" for the initial covariance value between cells (in meters).

Definition at line 272 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ KF_defaultCellMeanValue

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue {0}

The default value for the mean of cells' concentration.

Definition at line 280 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ KF_initialCellStd

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd {1.0}

The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).

Definition at line 276 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

◆ KF_observationModelNoise

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise {0}

The sensor model noise (in normalized concentration units).

Definition at line 278 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ KF_W_size

uint16_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size {4}

[mrKalmanApproximate] The size of the window of neighbor cells.

Definition at line 282 of file CRandomFieldGridMap2D.h.