Detailed Description

Option set for KLD algorithm.

Definition at line 20 of file TKLDParams.h.

#include <mrpt/slam/TKLDParams.h>

Inheritance diagram for mrpt::slam::TKLDParams:

Public Member Functions
	TKLDParams ()

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

Public Attributes
double	KLD_binSize_XY
	Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true. More...

double	KLD_binSize_PHI

double	KLD_delta

double	KLD_epsilon

unsigned int	KLD_minSampleSize
	Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true. More...

unsigned int	KLD_maxSampleSize

double	KLD_minSamplesPerBin
	(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * #ofBinsOccupied in the last time step 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)

Constructor & Destructor Documentation

◆ TKLDParams()

TKLDParams::TKLDParams ( )

Definition at line 22 of file TKLDParams.cpp.

Member Function Documentation

◆ 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 TKLDParams::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 36 of file TKLDParams.cpp.

References KLD_binSize_PHI, KLD_binSize_XY, KLD_delta, KLD_epsilon, KLD_maxSampleSize, KLD_minSampleSize, mrpt::utils::CStream::printf(), and RAD2DEG.

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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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◆ loadFromConfigFile()

void TKLDParams::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 57 of file TKLDParams.cpp.

References KLD_binSize_PHI, KLD_binSize_XY, KLD_delta, KLD_epsilon, KLD_maxSampleSize, KLD_minSampleSize, KLD_minSamplesPerBin, MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREES.

Referenced by run_test_pf_localization().

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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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◆ 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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Member Data Documentation

◆ KLD_binSize_PHI

double mrpt::slam::TKLDParams::KLD_binSize_PHI

Definition at line 35 of file TKLDParams.h.

Referenced by dumpToTextStream(), mrpt::slam::KLF_loadBinFromParticle(), and loadFromConfigFile().

◆ KLD_binSize_XY

double mrpt::slam::TKLDParams::KLD_binSize_XY

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.

Definition at line 35 of file TKLDParams.h.

Referenced by dumpToTextStream(), mrpt::slam::KLF_loadBinFromParticle(), and loadFromConfigFile().

◆ KLD_delta

double mrpt::slam::TKLDParams::KLD_delta

Definition at line 35 of file TKLDParams.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::slam::StandardProposal::PF_SLAM_implementation(), and mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation().

◆ KLD_epsilon

double mrpt::slam::TKLDParams::KLD_epsilon

Definition at line 35 of file TKLDParams.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::slam::StandardProposal::PF_SLAM_implementation(), and mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation().

◆ KLD_maxSampleSize

unsigned int mrpt::slam::TKLDParams::KLD_maxSampleSize

Definition at line 41 of file TKLDParams.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::slam::StandardProposal::PF_SLAM_implementation(), and mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation().

◆ KLD_minSampleSize

unsigned int mrpt::slam::TKLDParams::KLD_minSampleSize

Parameters for the KLD adaptive sample size algorithm (see Dieter Fox's papers), which is used only if the CParticleFilter is created with the "adaptiveSampleSize" flag set to true.

Definition at line 41 of file TKLDParams.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), mrpt::slam::StandardProposal::PF_SLAM_implementation(), and mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation().

◆ KLD_minSamplesPerBin

double mrpt::slam::TKLDParams::KLD_minSamplesPerBin

(Default: KLD_minSamplesPerBin=0) The minimum number of samples will be the maximum of KLD_minSampleSize and KLD_minSamplesPerBin * #ofBinsOccupied in the last time step

Definition at line 46 of file TKLDParams.h.

Referenced by loadFromConfigFile(), and mrpt::slam::AuxiliaryPFStandardAndOptimal< USE_OPTIMAL_SAMPLING >::PF_SLAM_implementation().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TKLDParams()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ KLD_binSize_PHI

◆ KLD_binSize_XY

◆ KLD_delta

◆ KLD_epsilon

◆ KLD_maxSampleSize

◆ KLD_minSampleSize

◆ KLD_minSamplesPerBin