Detailed Description

Virtual base for specifying the kind and parameters of one map (normally, to be inserted into mrpt::maps::CMultiMetricMap) See mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile() as an easy way of initialize this object, or construct with the factory methods <metric_map_class>::MapDefinition() and TMetricMapInitializer::factory()

See also: TSetOfMetricMapInitializers, mrpt::maps::CMultiMetricMap

Definition at line 32 of file TMetricMapInitializer.h.

#include <mrpt/maps/TMetricMapInitializer.h>

Inheritance diagram for mrpt::maps::TMetricMapInitializer:

Public Types
using	Ptr = std::shared_ptr< TMetricMapInitializer >
	Smart pointer to TMetricMapInitializer. More...

Public Member Functions
void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &sectionNamePrefix) override
	Load all params from a config file/source. More...

void	saveToConfigFile (mrpt::config::CConfigFileBase &target, const std::string &section) const override
	This method saves the options to 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...

const mrpt::rtti::TRuntimeClassId::Ptr &	getMetricMapClassType () const
	Query the map type (C++ class), as set by the factory method MapDefinition() 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...

Static Public Member Functions
static TMetricMapInitializer *	factory (const std::string &mapClassName)
	Looks up in the registry of known map types and call the corresponding `<metric_map_class>::MapDefinition()`. More...

Public Attributes
mrpt::maps::TMapGenericParams	genericMapParams
	Common params for all maps: These are automatically set in TMetricMapTypesRegistry::factoryMapObjectFromDefinition() More...

Protected Member Functions
	TMetricMapInitializer (const mrpt::rtti::TRuntimeClassId *classID)

virtual void	loadFromConfigFile_map_specific (const mrpt::config::CConfigFileBase &source, const std::string &sectionNamePrefix)=0
	Load all map-specific params. More...

virtual void	dumpToTextStream_map_specific (std::ostream &out) const =0

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)

Protected Attributes
const mrpt::rtti::TRuntimeClassId::Ptr	metricMapClassType
	Derived classes set this to CLASS_ID(< class >) where < class > is any CMetricMap derived class. More...

Friends
class	TSetOfMetricMapInitializers

Member Typedef Documentation

◆ Ptr

using mrpt::maps::TMetricMapInitializer::Ptr = std::shared_ptr<TMetricMapInitializer>

Smart pointer to TMetricMapInitializer.

Definition at line 36 of file TMetricMapInitializer.h.

Constructor & Destructor Documentation

◆ TMetricMapInitializer()

TMetricMapInitializer::TMetricMapInitializer ( const mrpt::rtti::TRuntimeClassId * classID )

protected

Definition at line 30 of file TMetricMapInitializer.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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ dumpToTextStream()

void TMetricMapInitializer::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 59 of file TMetricMapInitializer.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream(), dumpToTextStream_map_specific(), genericMapParams, metricMapClassType, and out.

Here is the call graph for this function:

◆ dumpToTextStream_map_specific()

virtual void mrpt::maps::TMetricMapInitializer::dumpToTextStream_map_specific ( std::ostream & out ) const

protectedpure virtual

Referenced by dumpToTextStream().

Here is the caller graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ factory()

TMetricMapInitializer * TMetricMapInitializer::factory ( const std::string & mapClassName )

static

Looks up in the registry of known map types and call the corresponding <metric_map_class>::MapDefinition().

Definition at line 22 of file TMetricMapInitializer.cpp.

◆ getMetricMapClassType()

const mrpt::rtti::TRuntimeClassId::Ptr& mrpt::maps::TMetricMapInitializer::getMetricMapClassType ( ) const

inline

Query the map type (C++ class), as set by the factory method MapDefinition()

Definition at line 59 of file TMetricMapInitializer.h.

References metricMapClassType.

Referenced by mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition().

Here is the caller graph for this function:

◆ loadFromConfigFile()

void TMetricMapInitializer::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	sectionNamePrefix
	)

overridevirtual

Load all params from a config file/source.

For examples and format, read the docs of mrpt::maps::CMultiMetricMap Typical section names:

<sectionNamePrefix>_creationOpts
<sectionNamePrefix>_insertOpts
<sectionNamePrefix>_likelihoodOpts

For examples and format, read the docs of mrpt::maps::CMultiMetricMap

Implements mrpt::config::CLoadableOptions.

Definition at line 38 of file TMetricMapInitializer.cpp.

References genericMapParams, mrpt::maps::TMapGenericParams::loadFromConfigFile(), and loadFromConfigFile_map_specific().

Referenced by mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ loadFromConfigFile_map_specific()

virtual void mrpt::maps::TMetricMapInitializer::loadFromConfigFile_map_specific	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	sectionNamePrefix
	)

protectedpure virtual

Load all map-specific params.

Referenced by loadFromConfigFile().

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ saveToConfigFile()

void TMetricMapInitializer::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 51 of file TMetricMapInitializer.cpp.

References genericMapParams, metricMapClassType, and mrpt::maps::TMapGenericParams::saveToConfigFile().

Here is the call graph for this function:

◆ 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().

Here is the call graph for this function:

Friends And Related Function Documentation

◆ TSetOfMetricMapInitializers

friend class TSetOfMetricMapInitializers

friend

Definition at line 34 of file TMetricMapInitializer.h.

Member Data Documentation

◆ genericMapParams

mrpt::maps::TMapGenericParams mrpt::maps::TMetricMapInitializer::genericMapParams

Common params for all maps: These are automatically set in TMetricMapTypesRegistry::factoryMapObjectFromDefinition()

Definition at line 40 of file TMetricMapInitializer.h.

Referenced by dumpToTextStream(), mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), loadFromConfigFile(), saveToConfigFile(), mrpt::maps::COccupancyGridMap3D::serializeFrom(), and mrpt::maps::COccupancyGridMap3D::serializeTo().

◆ metricMapClassType

const mrpt::rtti::TRuntimeClassId::Ptr mrpt::maps::TMetricMapInitializer::metricMapClassType

protected

Derived classes set this to CLASS_ID(< class >) where < class > is any CMetricMap derived class.

Definition at line 72 of file TMetricMapInitializer.h.

Referenced by dumpToTextStream(), getMetricMapClassType(), and saveToConfigFile().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ TMetricMapInitializer()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpToTextStream_map_specific()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ factory()

◆ getMetricMapClassType()

◆ loadFromConfigFile()

◆ loadFromConfigFile_map_specific()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Friends And Related Function Documentation

◆ TSetOfMetricMapInitializers

Member Data Documentation

◆ genericMapParams

◆ metricMapClassType