struct mrpt::maps::CHeightGridMap2D::TInsertionOptions

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,...

See also:

loadFromConfigFileName, saveToConfigFile

virtual void dumpToTextStream(std::ostream& out) const

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.