MRPT
2.0.4
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Struct for storing together the loop-closing related parameters.
Definition at line 458 of file CLoopCloserERD.h.
#include <mrpt/graphslam/ERD/CLoopCloserERD.h>
Public Member Functions | |
TLoopClosureParams () | |
~TLoopClosureParams () 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 | |
bool | LC_check_curr_partition_only |
flag indicating whether to check only the partition of the last registered node for potential loop closures More... | |
size_t | LC_min_nodeid_diff |
nodeID difference for detecting potential loop closure in a partition. More... | |
double | LC_eigenvalues_ratio_thresh |
Eigenvalues ratio for accepting/rejecting a hypothesis set. More... | |
int | LC_min_remote_nodes |
how many remote nodes (large nodID difference should there be before I consider the potential loop closure. More... | |
int | full_partition_per_nodes |
Full partition of map only afer X new nodes have been registered. More... | |
bool | visualize_map_partitions |
std::string | keystroke_map_partitions |
double | offset_y_map_partitions |
int | text_index_map_partitions |
const double | balloon_elevation {3} |
const double | balloon_radius {0.5} |
const mrpt::img::TColor | balloon_std_color |
const mrpt::img::TColor | balloon_curr_color |
const mrpt::img::TColor | connecting_lines_color |
bool | has_read_config {false} |
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::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::TLoopClosureParams | ( | ) |
Definition at line 2536 of file CLoopCloserERD_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 2550 of file CLoopCloserERD_impl.h.
References mrpt::format(), 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 2575 of file CLoopCloserERD_impl.h.
References 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().
const mrpt::img::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_curr_color |
Definition at line 503 of file CLoopCloserERD.h.
const double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_elevation {3} |
Definition at line 500 of file CLoopCloserERD.h.
const double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_radius {0.5} |
Definition at line 501 of file CLoopCloserERD.h.
const mrpt::img::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_std_color |
Definition at line 502 of file CLoopCloserERD.h.
const mrpt::img::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::connecting_lines_color |
Definition at line 504 of file CLoopCloserERD.h.
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::full_partition_per_nodes |
Full partition of map only afer X new nodes have been registered.
Definition at line 492 of file CLoopCloserERD.h.
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::has_read_config {false} |
Definition at line 506 of file CLoopCloserERD.h.
std::string mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::keystroke_map_partitions |
Definition at line 494 of file CLoopCloserERD.h.
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_check_curr_partition_only |
flag indicating whether to check only the partition of the last registered node for potential loop closures
Definition at line 472 of file CLoopCloserERD.h.
double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_eigenvalues_ratio_thresh |
Eigenvalues ratio for accepting/rejecting a hypothesis set.
By default this is set to 2.
Definition at line 484 of file CLoopCloserERD.h.
size_t mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_nodeid_diff |
nodeID difference for detecting potential loop closure in a partition.
If this difference is surpassed then the partition should be investigated for loop closures using Olson's strategy.
Definition at line 479 of file CLoopCloserERD.h.
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_remote_nodes |
how many remote nodes (large nodID difference should there be before I consider the potential loop closure.
Definition at line 488 of file CLoopCloserERD.h.
double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::offset_y_map_partitions |
Definition at line 496 of file CLoopCloserERD.h.
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::text_index_map_partitions |
Definition at line 497 of file CLoopCloserERD.h.
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::visualize_map_partitions |
Definition at line 493 of file CLoopCloserERD.h.
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