This struct contains data for choosing the method by which new beacons are inserted in the map.
Definition at line 135 of file CBeaconMap.h.
#include <mrpt/maps/CBeaconMap.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"-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 §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 | |
bool | insertAsMonteCarlo |
Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon). More... | |
float | maxElevation_deg |
Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90. More... | |
float | minElevation_deg |
unsigned int | MC_numSamplesPerMeter |
Number of particles per meter of range, i.e. More... | |
float | MC_maxStdToGauss |
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4). More... | |
float | MC_thresholdNegligible |
Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5). More... | |
bool | MC_performResampling |
If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion. More... | |
float | MC_afterResamplingNoise |
The std.dev. More... | |
float | SOG_thresholdNegligible |
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20). More... | |
float | SOG_maxDistBetweenGaussians |
A parameter for initializing 2D/3D SOGs. More... | |
float | SOG_separationConstant |
Constant used to compute the std. 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) |
CBeaconMap::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
Definition at line 1026 of file CBeaconMap.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 1044 of file CBeaconMap.cpp.
References 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"-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:
Implements mrpt::utils::CLoadableOptions.
Definition at line 1087 of file CBeaconMap.cpp.
References MRPT_LOAD_CONFIG_VAR.
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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().
bool mrpt::maps::CBeaconMap::TInsertionOptions::insertAsMonteCarlo |
Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon).
Definition at line 150 of file CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::maxElevation_deg |
Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.
Definition at line 157 of file CBeaconMap.h.
Referenced by mrpt::maps::CBeacon::generateRingSOG().
float mrpt::maps::CBeaconMap::TInsertionOptions::MC_afterResamplingNoise |
The std.dev.
of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true.
Definition at line 185 of file CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::MC_maxStdToGauss |
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).
Definition at line 167 of file CBeaconMap.h.
unsigned int mrpt::maps::CBeaconMap::TInsertionOptions::MC_numSamplesPerMeter |
Number of particles per meter of range, i.e.
per meter of the "radius of the ring".
Definition at line 162 of file CBeaconMap.h.
bool mrpt::maps::CBeaconMap::TInsertionOptions::MC_performResampling |
If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.
Definition at line 180 of file CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::MC_thresholdNegligible |
Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).
Definition at line 172 of file CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::minElevation_deg |
Definition at line 157 of file CBeaconMap.h.
Referenced by mrpt::maps::CBeacon::generateRingSOG().
float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians |
A parameter for initializing 2D/3D SOGs.
Definition at line 194 of file CBeaconMap.h.
Referenced by mrpt::maps::CBeacon::generateRingSOG().
float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_separationConstant |
Constant used to compute the std.
dev. int the tangent direction when creating the Gaussians.
Definition at line 199 of file CBeaconMap.h.
Referenced by mrpt::maps::CBeacon::generateRingSOG().
float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_thresholdNegligible |
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).
Definition at line 190 of file CBeaconMap.h.
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