class mrpt::maps::TSetOfMetricMapInitializers

Overview

A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and “CMultiMetricMap::setListOfMaps” for effectively creating the list of desired maps.

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;

Methods

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

Loads the configuration for the set of internal maps from a textual definition in an INI-like file.

The format of the ini file is defined in CConfigFile. The list of maps and their options will be loaded from a handle of sections:

 [<sectionName>]
  // Creation of maps:
  occupancyGrid_count=<Number of mrpt::maps::COccupancyGridMap2D maps>
  octoMap_count=<Number of mrpt::maps::COctoMap maps>
  colourOctoMap_count=<Number of mrpt::slam::CColourOctoMap maps>
  gasGrid_count=<Number of mrpt::maps::CGasConcentrationGridMap2D maps>
  wifiGrid_count=<Number of mrpt::maps::CWirelessPowerGridMap2D maps>
  beaconMap_count=<0 or 1, for creating a mrpt::maps::CBeaconMap map>
  pointsMap_count=<Number of mrpt::maps::CSimplePointsMap map>
  heightMap_count=<Number of mrpt::maps::CHeightGridMap2D maps>
  reflectivityMap_count=<Number of mrpt::maps::CReflectivityGridMap2D
*maps>
  colourPointsMap_count=<0 or 1, for creating a
*mrpt::maps::CColouredPointsMap map>
  weightedPointsMap_count=<0 or 1, for creating a
*mrpt::maps::CWeightedPointsMap map>
  mrpt::maps::CVoxelMap_count=[0|1]
  mrpt::maps::CVoxelMapRGB_count=[0|1]

 // ====================================================
 //  Creation Options for OccupancyGridMap ##:
 [<sectionName>+"_occupancyGrid_##_creationOpts"]
  min_x=<value>
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>
  # Common params for all maps:
  #enableSaveAs3DObject        = {true|false}
  #enableObservationLikelihood = {true|false}
  #enableObservationInsertion  = {true|false}

 // Insertion Options for OccupancyGridMap ##:
 [<sectionName>+"_occupancyGrid_##_insertOpts"]
  <See COccupancyGridMap2D::TInsertionOptions>

 // Likelihood Options for OccupancyGridMap ##:
 [<sectionName>+"_occupancyGrid_##_likelihoodOpts"]
  <See COccupancyGridMap2D::TLikelihoodOptions>

 // ====================================================
 //  Creation Options for OctoMap ##:
 [<sectionName>+"_octoMap_##_creationOpts"]
  resolution=<value>

 // Insertion Options for OctoMap ##:
 [<sectionName>+"_octoMap_##_insertOpts"]
  <See COctoMap::TInsertionOptions>

 // Likelihood Options for OctoMap ##:
 [<sectionName>+"_octoMap_##_likelihoodOpts"]
  <See COctoMap::TLikelihoodOptions>

 // ====================================================
 //  Creation Options for ColourOctoMap ##:
 [<sectionName>+"_colourOctoMap_##_creationOpts"]
  resolution=<value>

 // Insertion Options for ColourOctoMap ##:
 [<sectionName>+"_colourOctoMap_##_insertOpts"]
  <See CColourOctoMap::TInsertionOptions>

 // Likelihood Options for ColourOctoMap ##:
 [<sectionName>+"_colourOctoMap_##_likelihoodOpts"]
  <See CColourOctoMap::TLikelihoodOptions>


 // ====================================================
 // Insertion Options for mrpt::maps::CSimplePointsMap ##:
 [<sectionName>+"_pointsMap_##_insertOpts"]
  <See CPointsMap::TInsertionOptions>

 // Likelihood Options for mrpt::maps::CSimplePointsMap ##:
 [<sectionName>+"_pointsMap_##_likelihoodOpts"]
  <See CPointsMap::TLikelihoodOptions>


 // ====================================================
 // Creation Options for CGasConcentrationGridMap2D ##:
 [<sectionName>+"_gasGrid_##_creationOpts"]
  mapType= <0-1> ; See
*CGasConcentrationGridMap2D::CGasConcentrationGridMap2D
  min_x=<value>
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>

 // Insertion Options for CGasConcentrationGridMap2D ##:
 [<sectionName>+"_gasGrid_##_insertOpts"]
  <See CGasConcentrationGridMap2D::TInsertionOptions>

 // ====================================================
 // Creation Options for CWirelessPowerGridMap2D ##:
 [<sectionName>+"_wifiGrid_##_creationOpts"]
  mapType= <0-1> ; See CWirelessPowerGridMap2D::CWirelessPowerGridMap2D
  min_x=<value>
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>

 // Insertion Options for CWirelessPowerGridMap2D ##:
 [<sectionName>+"_wifiGrid_##_insertOpts"]
  <See CWirelessPowerGridMap2D::TInsertionOptions>


 // ====================================================
 // Creation Options for CLandmarksMap ##:
 [<sectionName>+"_landmarksMap_##_creationOpts"]
  nBeacons=<# of beacons>
  beacon_001_ID=67      ; The ID and 3D coordinates of each beacon
  beacon_001_X=<x>
  beacon_001_Y=<x>
  beacon_001_Z=<x>

 // Insertion Options for CLandmarksMap ##:
 [<sectionName>+"_landmarksMap_##_insertOpts"]
  <See CLandmarksMap::TInsertionOptions>

 // Likelihood Options for CLandmarksMap ##:
 [<sectionName>+"_landmarksMap_##_likelihoodOpts"]
  <See CLandmarksMap::TLikelihoodOptions>


 // ====================================================
 // Insertion Options for CBeaconMap ##:
 [<sectionName>+"_beaconMap_##_insertOpts"]
  <See CBeaconMap::TInsertionOptions>

 // Likelihood Options for CBeaconMap ##:
 [<sectionName>+"_beaconMap_##_likelihoodOpts"]
  <See CBeaconMap::TLikelihoodOptions>

 // ====================================================
 // Creation Options for HeightGridMap ##:
 [<sectionName>+"_heightGrid_##_creationOpts"]
  mapType= <0-1> // See CHeightGridMap2D::CHeightGridMap2D
  min_x=<value>
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>

 // Insertion Options for HeightGridMap ##:
 [<sectionName>+"_heightGrid_##_insertOpts"]
  <See CHeightGridMap2D::TInsertionOptions>


 // ====================================================
 // Creation Options for ReflectivityGridMap ##:
 [<sectionName>+"_reflectivityMap_##_creationOpts"]
  min_x=<value>  // See CReflectivityGridMap2D::CReflectivityGridMap2D
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>

 // Insertion Options for HeightGridMap ##:
 [<sectionName>+"_reflectivityMap_##_insertOpts"]
  <See CReflectivityGridMap2D::TInsertionOptions>


 // ====================================================
 // Insertion Options for CColouredPointsMap ##:
 [<sectionName>+"_colourPointsMap_##_insertOpts"]
  <See CPointsMap::TInsertionOptions>


 // Color Options for CColouredPointsMap ##:
 [<sectionName>+"_colourPointsMap_##_colorOpts"]
  <See CColouredPointsMap::TColourOptions>

 // Likelihood Options for mrpt::maps::CSimplePointsMap ##:
 [<sectionName>+"_colourPointsMap_##_likelihoodOpts"]
  <See CPointsMap::TLikelihoodOptions>


 // ====================================================
 // Insertion Options for CWeightedPointsMap ##:
 [<sectionName>+"_weightedPointsMap_##_insertOpts"]
  <See CPointsMap::TInsertionOptions>


 // Likelihood Options for CWeightedPointsMap ##:
 [<sectionName>+"_weightedPointsMap_##_likelihoodOpts"]
  <See CPointsMap::TLikelihoodOptions>

Where:

##: Represents the index of the map (e.g. “00”,”01”,…)
By default, the variables into each “TOptions” structure of the maps are defined in textual form by the same name of the corresponding C++ variable (e.g. “float resolution;” -> “resolution=0.10”)

Examples of map definitions can be found in the ‘.ini’ files provided in the demo directories: “share/mrpt/config-files/”

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.