struct mrpt::maps::TVoxelMap_InsertionOptions

Overview

#include <mrpt/maps/CVoxelMapOccupancyBase.h>

struct TVoxelMap_InsertionOptions: public mrpt::config::CLoadableOptions
{
    // fields

    double max_range = -1;
    double prob_miss = 0.45;
    double prob_hit = 0.65;
    double clamp_min = 0.10;
    double clamp_max = 0.95;
    bool ray_trace_free_space = true;
    uint32_t decimation = 1;

    // construction

    TVoxelMap_InsertionOptions();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void writeToStream(mrpt::serialization::CArchive& out) const;
    void readFromStream(mrpt::serialization::CArchive& in);
};

Inherited Members

public:
    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields

double max_range = -1

Maximum insertion ray range (<0: none)

Methods

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

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,...