struct mrpt::maps::CHeightGridMap2D::TInsertionOptions

Overview

Parameters related with inserting observations into the map.

#include <mrpt/maps/CHeightGridMap2D.h>

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

    bool filterByHeight {false};
    float z_min {-0.5};
    float z_max {0.5};
    mrpt::img::TColormap colorMap {mrpt::img::cmJET};

    // construction

    TInsertionOptions();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) const;
};

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

bool filterByHeight {false}

Whether to perform filtering by z-coordinate (default=false): coordinates are always RELATIVE to the robot for this filter.vvv.

float z_min {-0.5}

Only when filterByHeight is true: coordinates are always RELATIVE to the robot for this filter.

Construction

TInsertionOptions()

Default values loader.

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,...