With this struct options are provided to the observation insertion process.
Definition at line 493 of file COccupancyGridMap2D.h.
#include <mrpt/maps/COccupancyGridMap2D.h>
Public Member Functions | |
TInsertionOptions () | |
Initilization of default parameters. More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) override |
This method load the options from a ".ini" file. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const override |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More... | |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
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... | |
virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string §ion) const |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
void | saveToConfigFileName (const std::string &config_file, const std::string §ion) 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... | |
Public Attributes | |
float | mapAltitude |
The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map! More... | |
bool | useMapAltitude |
The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true. More... | |
float | maxDistanceInsertion |
The largest distance at which cells will be updated (Default 15 meters) More... | |
float | maxOccupancyUpdateCertainty |
A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8) More... | |
bool | considerInvalidRangesAsFreeSpace |
If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray. More... | |
uint16_t | decimation |
Specify the decimation of the range scan (default=1 : take all the range values!) More... | |
float | horizontalTolerance |
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0). More... | |
float | CFD_features_gaussian_size |
Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled) More... | |
float | CFD_features_median_size |
Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled) More... | |
bool | wideningBeamsWithDistance |
Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false) More... | |
Static Protected Member Functions | |
static void | dumpVar_int (CStream &out, const char *varName, int v) |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More... | |
static void | dumpVar_float (CStream &out, const char *varName, float v) |
static void | dumpVar_double (CStream &out, const char *varName, double v) |
static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
COccupancyGridMap2D::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
Definition at line 1314 of file COccupancyGridMap2D_insert.cpp.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Definition at line 44 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().
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overridevirtual |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented from mrpt::utils::CLoadableOptions.
Definition at line 1353 of file COccupancyGridMap2D_insert.cpp.
References LOADABLEOPTS_DUMP_VAR, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 65 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 59 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 54 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
Definition at line 49 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 71 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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overridevirtual |
This method load the options from a ".ini" file.
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:
Implements mrpt::utils::CLoadableOptions.
Definition at line 1333 of file COccupancyGridMap2D_insert.cpp.
References MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREES.
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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.
Definition at line 22 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::loadFromConfigFile().
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().
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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.
Definition at line 29 of file CLoadableOptions.cpp.
References MRPT_UNUSED_PARAM.
Referenced by mrpt::utils::CLoadableOptions::dumpToTextStream(), and mrpt::utils::CLoadableOptions::saveToConfigFileName().
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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.
Definition at line 37 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::saveToConfigFile().
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_gaussian_size |
Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled)
Definition at line 542 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_median_size |
Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled)
Definition at line 545 of file COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::considerInvalidRangesAsFreeSpace |
If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray.
Definition at line 532 of file COccupancyGridMap2D.h.
uint16_t mrpt::maps::COccupancyGridMap2D::TInsertionOptions::decimation |
Specify the decimation of the range scan (default=1 : take all the range values!)
Definition at line 535 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::horizontalTolerance |
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0).
Definition at line 539 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood().
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::mapAltitude |
The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map!
Definition at line 519 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood().
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxDistanceInsertion |
The largest distance at which cells will be updated (Default 15 meters)
Definition at line 525 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxOccupancyUpdateCertainty |
A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8)
Definition at line 528 of file COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::useMapAltitude |
The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true.
Definition at line 522 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood().
bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::wideningBeamsWithDistance |
Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false)
Definition at line 548 of file COccupancyGridMap2D.h.
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