Detailed Description

Common params to all maps derived from mrpt::maps::CMetricMap.

Definition at line 88 of file metric_map_types.h.

#include <mrpt/maps/metric_map_types.h>

Inheritance diagram for mrpt::maps::TMapGenericParams:

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

void *	operator new (size_t size, const std::nothrow_t &) noexcept

void	operator delete (void *ptr, const std::nothrow_t &) noexcept

	TMapGenericParams ()

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &sectionNamePrefix) override
	This method load the options from a ".ini"-like file or memory-stored string list. 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 &section)
	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 &section) 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 &section) 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...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

RTTI classes and functions
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
bool	enableSaveAs3DObject
	(Default=true) If false, calling CMetricMap::getAs3DObject() will have no effects More...

bool	enableObservationLikelihood
	(Default=true) Enable computing observation likelihoods with this map More...

bool	enableObservationInsertion
	(Default=true) Enable inserting observations in this map More...

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const override
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version) override
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. 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)

RTTI stuff
using	Ptr = std::shared_ptr< TMapGenericParams >

using	ConstPtr = std::shared_ptr< const TMapGenericParams >

static mrpt::utils::CLASSINIT	_init_TMapGenericParams

static const mrpt::utils::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "TMapGenericParams"

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static mrpt::utils::CObject *	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::maps::TMapGenericParams::ConstPtr = std::shared_ptr<const TMapGenericParams >

Definition at line 91 of file metric_map_types.h.

◆ Ptr

using mrpt::maps::TMapGenericParams::Ptr = std::shared_ptr< TMapGenericParams >

A typedef for the associated smart pointer

Definition at line 91 of file metric_map_types.h.

Constructor & Destructor Documentation

◆ TMapGenericParams()

TMapGenericParams::TMapGenericParams ( )

Definition at line 23 of file metric_map_types.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::maps::TMapGenericParams::_GetBaseClass ( )

staticprotected

◆ clone()

virtual mrpt::utils::CObject* mrpt::maps::TMapGenericParams::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::maps::TMapGenericParams::Create ( Args &&... args )

inlinestatic

Definition at line 91 of file metric_map_types.h.

◆ CreateObject()

static mrpt::utils::CObject* mrpt::maps::TMapGenericParams::CreateObject ( )

static

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

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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◆ dumpToTextStream()

void TMapGenericParams::dumpToTextStream ( mrpt::utils::CStream & out ) const

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 37 of file metric_map_types.cpp.

References LOADABLEOPTS_DUMP_VAR.

Referenced by mrpt::maps::TMetricMapInitializer::dumpToTextStream().

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◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 65 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 59 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 54 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)

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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◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 71 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

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◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::maps::TMapGenericParams::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::maps::TMapGenericParams::GetRuntimeClassIdStatic ( )

static

◆ loadFromConfigFile()

void TMapGenericParams::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

overridevirtual

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

Implements mrpt::utils::CLoadableOptions.

Definition at line 30 of file metric_map_types.cpp.

References MRPT_LOAD_CONFIG_VAR.

Referenced by mrpt::maps::TMetricMapInitializer::loadFromConfigFile().

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◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

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.

See also: loadFromConfigFile

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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◆ operator delete() [1/3]

void mrpt::maps::TMapGenericParams::operator delete ( void * ptr )

inlinenoexcept

Definition at line 91 of file metric_map_types.h.

◆ operator delete() [2/3]

void mrpt::maps::TMapGenericParams::operator delete	(	void *	memory,
		void *	ptr
	)

inlinenoexcept

Definition at line 91 of file metric_map_types.h.

◆ operator delete() [3/3]

void mrpt::maps::TMapGenericParams::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 91 of file metric_map_types.h.

◆ operator delete[]()

void mrpt::maps::TMapGenericParams::operator delete[] ( void * ptr )

inlinenoexcept

Definition at line 91 of file metric_map_types.h.

◆ operator new() [1/3]

void* mrpt::maps::TMapGenericParams::operator new ( size_t size )

inline

Definition at line 91 of file metric_map_types.h.

◆ operator new() [2/3]

void* mrpt::maps::TMapGenericParams::operator new	(	size_t	size,
		const std::nothrow_t &
	)

inlinenoexcept

Definition at line 91 of file metric_map_types.h.

◆ operator new() [3/3]

static void* mrpt::maps::TMapGenericParams::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 91 of file metric_map_types.h.

◆ operator new[]()

void* mrpt::maps::TMapGenericParams::operator new[] ( size_t size )

inline

Definition at line 91 of file metric_map_types.h.

◆ readFromStream()

void TMapGenericParams::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

overrideprotectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 57 of file metric_map_types.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	target,
		const std::string &	section
	)		const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

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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◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

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.

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

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◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 89 of file CSerializable.h.

◆ writeToStream()

void TMapGenericParams::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

overrideprotectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 45 of file metric_map_types.cpp.

Member Data Documentation

◆ _init_TMapGenericParams

mrpt::utils::CLASSINIT mrpt::maps::TMapGenericParams::_init_TMapGenericParams

staticprotected

Definition at line 91 of file metric_map_types.h.

◆ className

constexpr const char* mrpt::maps::TMapGenericParams::className = "TMapGenericParams"

static

Definition at line 91 of file metric_map_types.h.

◆ enableObservationInsertion

bool mrpt::maps::TMapGenericParams::enableObservationInsertion

(Default=true) Enable inserting observations in this map

Definition at line 99 of file metric_map_types.h.

◆ enableObservationLikelihood

bool mrpt::maps::TMapGenericParams::enableObservationLikelihood

(Default=true) Enable computing observation likelihoods with this map

Definition at line 97 of file metric_map_types.h.

◆ enableSaveAs3DObject

bool mrpt::maps::TMapGenericParams::enableSaveAs3DObject

(Default=true) If false, calling CMetricMap::getAs3DObject() will have no effects

Definition at line 95 of file metric_map_types.h.

Referenced by mrpt::maps::CWirelessPowerGridMap2D::getAs3DObject(), mrpt::maps::CGasConcentrationGridMap2D::getAs3DObject(), mrpt::maps::CReflectivityGridMap2D::getAs3DObject(), mrpt::maps::CHeightGridMap2D::getAs3DObject(), mrpt::maps::CBeaconMap::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CLandmarksMap::getAs3DObject(), and mrpt::maps::CPointsMap::getAs3DObject().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::maps::TMapGenericParams::runtimeClassId

staticprotected

Definition at line 91 of file metric_map_types.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ TMapGenericParams()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ readFromStream()

◆ saveToConfigFile()

◆ saveToConfigFileName()

◆ writeToMatlab()

◆ writeToStream()

Member Data Documentation

◆ _init_TMapGenericParams

◆ className

◆ enableObservationInsertion

◆ enableObservationLikelihood

◆ enableSaveAs3DObject

◆ runtimeClassId