mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions Struct Reference

Detailed Description

Options for building a CMetricMapBuilderRBPF object, passed to the constructor.

Definition at line 82 of file CMetricMapBuilderRBPF.h.

#include <mrpt/slam/CMetricMapBuilderRBPF.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions:

Public Member Functions
	TConstructionOptions ()
	Constructor. 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
float	insertionLinDistance {1.0f}
float	insertionAngDistance
float	localizeLinDistance {0.4f}
float	localizeAngDistance
bayes::CParticleFilter::TParticleFilterOptions	PF_options
mrpt::maps::TSetOfMetricMapInitializers	mapsInitializers
mrpt::maps::CMultiMetricMapPDF::TPredictionParams	predictionOptions
mrpt::system::VerbosityLevel	verbosity_level {mrpt::system::LVL_INFO}

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

TConstructionOptions()

CMetricMapBuilderRBPF::TConstructionOptions::TConstructionOptions

(

)

Constructor.

Definition at line 503 of file CMetricMapBuilderRBPF.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 CMetricMapBuilderRBPF::TConstructionOptions::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 517 of file CMetricMapBuilderRBPF.cpp.

References mrpt::format(), mrpt::slam::CMetricMapBuilderRBPF::insertionAngDistance, mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeAngDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeLinDistance, out, and mrpt::RAD2DEG().

Referenced by mrpt::apps::RBPF_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 CMetricMapBuilderRBPF::TConstructionOptions::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 553 of file CMetricMapBuilderRBPF.cpp.

References iniFile(), mrpt::slam::CMetricMapBuilderRBPF::insertionAngDistance, mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeAngDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeLinDistance, MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT, and MRPT_START.

Referenced by mrpt::apps::RBPF_SLAM_App_Base::run().

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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

insertionAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::insertionAngDistance

Definition at line 94 of file CMetricMapBuilderRBPF.h.

insertionLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::insertionLinDistance {1.0f}

Definition at line 93 of file CMetricMapBuilderRBPF.h.

localizeAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::localizeAngDistance

Definition at line 97 of file CMetricMapBuilderRBPF.h.

localizeLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::localizeLinDistance {0.4f}

Definition at line 96 of file CMetricMapBuilderRBPF.h.

mapsInitializers

mrpt::maps::TSetOfMetricMapInitializers mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::mapsInitializers

Definition at line 101 of file CMetricMapBuilderRBPF.h.

PF_options

bayes::CParticleFilter::TParticleFilterOptions mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::PF_options

Definition at line 99 of file CMetricMapBuilderRBPF.h.

predictionOptions

mrpt::maps::CMultiMetricMapPDF::TPredictionParams mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::predictionOptions

Definition at line 102 of file CMetricMapBuilderRBPF.h.

verbosity_level

mrpt::system::VerbosityLevel mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::verbosity_level {mrpt::system::LVL_INFO}

Definition at line 103 of file CMetricMapBuilderRBPF.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF().