MRPT
2.0.2
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Struct for holding the optimization-related variables in a compact form.
Definition at line 152 of file CLevMarqGSO.h.
#include <mrpt/graphslam/GSO/CLevMarqGSO.h>
Public Member Functions | |
OptimizationParams () | |
~OptimizationParams () override | |
void | loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string §ion) 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 §ion) |
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 §ion) 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 §ion) 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 | |
mrpt::system::TParametersDouble | cfg |
bool | optimization_on_second_thread |
double | optimization_distance |
optimize only for the nodes found in a certain distance from the current position. More... | |
double | offset_y_optimization_distance |
int | text_index_optimization_distance |
mrpt::img::TColor | optimization_distance_color |
std::string | keystroke_optimization_distance |
Keystroke to toggle the optimization distance on/off. More... | |
std::string | keystroke_optimize_graph |
Keystroke to manually trigger a full graph optimization. More... | |
int | LC_min_nodeid_diff |
GRAPH_T::edges_map_t | last_pair_nodes_to_edge |
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) |
mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::OptimizationParams | ( | ) |
Definition at line 704 of file CLevMarqGSO_impl.h.
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overridedefault |
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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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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 713 of file CLevMarqGSO_impl.h.
References MRPT_END, MRPT_START, and out.
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staticprotectedinherited |
Definition at line 62 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Definition at line 56 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Definition at line 50 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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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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staticprotectedinherited |
Definition at line 69 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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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:
Implements mrpt::config::CLoadableOptions.
Definition at line 726 of file CLevMarqGSO_impl.h.
References ASSERTDEBMSG_, mrpt::format(), MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_double(), and mrpt::config::CConfigFileBase::read_int().
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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.
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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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
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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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.
Definition at line 36 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::saveToConfigFile().
mrpt::system::TParametersDouble mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::cfg |
Definition at line 163 of file CLevMarqGSO.h.
std::string mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::keystroke_optimization_distance |
Keystroke to toggle the optimization distance on/off.
Definition at line 175 of file CLevMarqGSO.h.
std::string mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::keystroke_optimize_graph |
Keystroke to manually trigger a full graph optimization.
Definition at line 177 of file CLevMarqGSO.h.
GRAPH_T::edges_map_t mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::last_pair_nodes_to_edge |
Definition at line 184 of file CLevMarqGSO.h.
int mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::LC_min_nodeid_diff |
Definition at line 180 of file CLevMarqGSO.h.
double mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::offset_y_optimization_distance |
Definition at line 171 of file CLevMarqGSO.h.
double mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_distance |
optimize only for the nodes found in a certain distance from the current position.
Optimize for the entire graph if set to1
Definition at line 170 of file CLevMarqGSO.h.
mrpt::img::TColor mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_distance_color |
Definition at line 173 of file CLevMarqGSO.h.
bool mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_on_second_thread |
Definition at line 165 of file CLevMarqGSO.h.
int mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::text_index_optimization_distance |
Definition at line 172 of file CLevMarqGSO.h.
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