mrpt::nav::CHolonomicND::TOptions Struct Reference

Detailed Description

Algorithm options.

Definition at line 91 of file CHolonomicND.h.

#include <mrpt/nav/holonomic/CHolonomicND.h>

Inheritance diagram for mrpt::nav::CHolonomicND::TOptions:

Public Member Functions
	TOptions ()
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	saveToConfigFile (mrpt::config::CConfigFileBase &cfg, const std::string &section) 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
double	TOO_CLOSE_OBSTACLE {0.15}
double	WIDE_GAP_SIZE_PERCENT {0.25}
double	RISK_EVALUATION_SECTORS_PERCENT {0.10}
double	RISK_EVALUATION_DISTANCE {0.4}
double	MAX_SECTOR_DIST_FOR_D2_PERCENT {0.25}
double	TARGET_SLOW_APPROACHING_DISTANCE {0.60}
std::vector< double >	factorWeights
	Vector of 4 weights: [0]=Free space, [1]=Dist. 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()

CHolonomicND::TOptions::TOptions

(

)

Definition at line 666 of file CHolonomicND.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 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 CHolonomicND::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 667 of file CHolonomicND.cpp.

References ASSERT_, MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_START, and mrpt::config::CConfigFileBase::read_vector().

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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 CHolonomicND::TOptions::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 690 of file CHolonomicND.cpp.

References ASSERT_EQUAL_, mrpt::format(), MRPT_END, MRPT_SAVE_CONFIG_VAR_COMMENT, mrpt::config::MRPT_SAVE_NAME_PADDING(), mrpt::config::MRPT_SAVE_VALUE_PADDING(), MRPT_START, and mrpt::config::CConfigFileBase::write().

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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

factorWeights

std::vector<double> mrpt::nav::CHolonomicND::TOptions::factorWeights

Vector of 4 weights: [0]=Free space, [1]=Dist.

in sectors, [2]=Closer to target (Euclidean), [3]=Hysteresis

Definition at line 100 of file CHolonomicND.h.

Referenced by mrpt::nav::CHolonomicND::serializeFrom(), and mrpt::nav::CHolonomicND::serializeTo().

MAX_SECTOR_DIST_FOR_D2_PERCENT

double mrpt::nav::CHolonomicND::TOptions::MAX_SECTOR_DIST_FOR_D2_PERCENT {0.25}

Definition at line 96 of file CHolonomicND.h.

Referenced by mrpt::nav::CHolonomicND::serializeFrom(), and mrpt::nav::CHolonomicND::serializeTo().

RISK_EVALUATION_DISTANCE

double mrpt::nav::CHolonomicND::TOptions::RISK_EVALUATION_DISTANCE {0.4}

Definition at line 95 of file CHolonomicND.h.

Referenced by mrpt::nav::CHolonomicND::serializeFrom(), and mrpt::nav::CHolonomicND::serializeTo().

RISK_EVALUATION_SECTORS_PERCENT

double mrpt::nav::CHolonomicND::TOptions::RISK_EVALUATION_SECTORS_PERCENT {0.10}

Definition at line 94 of file CHolonomicND.h.

Referenced by mrpt::nav::CHolonomicND::serializeFrom(), and mrpt::nav::CHolonomicND::serializeTo().

TARGET_SLOW_APPROACHING_DISTANCE

double mrpt::nav::CHolonomicND::TOptions::TARGET_SLOW_APPROACHING_DISTANCE {0.60}

Definition at line 97 of file CHolonomicND.h.

Referenced by mrpt::nav::CHolonomicND::getTargetApproachSlowDownDistance(), mrpt::nav::CHolonomicND::serializeFrom(), mrpt::nav::CHolonomicND::serializeTo(), and mrpt::nav::CHolonomicND::setTargetApproachSlowDownDistance().

TOO_CLOSE_OBSTACLE

double mrpt::nav::CHolonomicND::TOptions::TOO_CLOSE_OBSTACLE {0.15}

Definition at line 93 of file CHolonomicND.h.

Referenced by mrpt::nav::CHolonomicND::serializeFrom(), and mrpt::nav::CHolonomicND::serializeTo().

WIDE_GAP_SIZE_PERCENT

double mrpt::nav::CHolonomicND::TOptions::WIDE_GAP_SIZE_PERCENT {0.25}

Definition at line 93 of file CHolonomicND.h.

Referenced by mrpt::nav::CHolonomicND::serializeFrom(), and mrpt::nav::CHolonomicND::serializeTo().