Main MRPT website > C++ reference for MRPT 1.9.9
List of all members | Public Member Functions | Public Attributes | Static Protected Member Functions | Private Attributes
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions Struct Reference

Detailed Description

template<class OCTREE, class OCTREE_NODE>
struct mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions

With this struct options are provided to the observation insertion process.

See also
CObservation::insertObservationInto()

Definition at line 79 of file COctoMapBase.h.

#include <mrpt/maps/COctoMapBase.h>

Inheritance diagram for mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions:
Inheritance graph

Public Member Functions

 TInsertionOptions (myself_t &parent)
 Initilization of default parameters. More...
 
 TInsertionOptions ()
 Especial constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc. More...
 
TInsertionOptions & operator= (const TInsertionOptions &o)
 
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 setOccupancyThres (double prob)
 (key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5) More...
 
void setProbHit (double prob)
 (key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7) More...
 
void setProbMiss (double prob)
 (key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4) More...
 
void setClampingThresMin (double thresProb)
 (key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds) More...
 
void setClampingThresMax (double thresProb)
 (key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds) More...
 
double getOccupancyThres () const
 
float getOccupancyThresLog () const
 
double getProbHit () const
 
float getProbHitLog () const
 
double getProbMiss () const
 
float getProbMissLog () const
 
double getClampingThresMin () const
 
float getClampingThresMinLog () const
 
double getClampingThresMax () const
 
float getClampingThresMaxLog () const
 
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 maxrange
 maximum range for how long individual beams are inserted (default -1: complete beam) More...
 
bool pruning
 whether the tree is (losslessly) pruned after insertion (default: true) 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)
 

Private Attributes

mrpt::utils::ignored_copy_ptr< myself_t > m_parent
 
double occupancyThres
 
double probHit
 
double probMiss
 
double clampingThresMin
 
double clampingThresMax
 

Constructor & Destructor Documentation

◆ TInsertionOptions() [1/2]

template<class OCTREE , class OCTREE_NODE >
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions ( myself_t &  parent)

Initilization of default parameters.

Definition at line 259 of file COctoMapBase_impl.h.

◆ TInsertionOptions() [2/2]

template<class OCTREE , class OCTREE_NODE >
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions ( )

Especial constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc.

Definition at line 274 of file COctoMapBase_impl.h.

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().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ dumpToTextStream()

template<class OCTREE , class OCTREE_NODE >
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::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 324 of file COctoMapBase_impl.h.

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

Here is the call graph for this function:

◆ 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().

Here is the call graph for this function:

◆ 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().

Here is the call graph for this function:

◆ 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().

Here is the call graph for this function:

◆ 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().

Here is the call graph for this function:

◆ 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().

Here is the call graph for this function:

◆ getClampingThresMax()

template<class OCTREE, class OCTREE_NODE>
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMax ( ) const
inline
Returns
maximum threshold for occupancy clamping in the sensor model (probability)

Definition at line 210 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMax, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

Here is the caller graph for this function:

◆ getClampingThresMaxLog()

template<class OCTREE, class OCTREE_NODE>
float mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMaxLog ( ) const
inline
Returns
maximum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 219 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

◆ getClampingThresMin()

template<class OCTREE, class OCTREE_NODE>
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMin ( ) const
inline
Returns
minimum threshold for occupancy clamping in the sensor model (probability)

Definition at line 195 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMin, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

Here is the caller graph for this function:

◆ getClampingThresMinLog()

template<class OCTREE, class OCTREE_NODE>
float mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMinLog ( ) const
inline
Returns
minimum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 204 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

◆ getOccupancyThres()

template<class OCTREE, class OCTREE_NODE>
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThres ( ) const
inline
Returns
threshold (probability) for occupancy - sensor model

Definition at line 153 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::occupancyThres.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

Here is the caller graph for this function:

◆ getOccupancyThresLog()

template<class OCTREE, class OCTREE_NODE>
float mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThresLog ( ) const
inline
Returns
threshold (logodds) for occupancy - sensor model

Definition at line 161 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

◆ getProbHit()

template<class OCTREE, class OCTREE_NODE>
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHit ( ) const
inline
Returns
probablility for a "hit" in the sensor model (probability)

Definition at line 167 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probHit.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

Here is the caller graph for this function:

◆ getProbHitLog()

template<class OCTREE, class OCTREE_NODE>
float mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHitLog ( ) const
inline
Returns
probablility for a "hit" in the sensor model (logodds)

Definition at line 175 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

◆ getProbMiss()

template<class OCTREE, class OCTREE_NODE>
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMiss ( ) const
inline
Returns
probablility for a "miss" in the sensor model (probability)

Definition at line 180 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probMiss.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

Here is the caller graph for this function:

◆ getProbMissLog()

template<class OCTREE, class OCTREE_NODE>
float mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMissLog ( ) const
inline
Returns
probablility for a "miss" in the sensor model (logodds)

Definition at line 188 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

◆ loadFromConfigFile()

template<class OCTREE , class OCTREE_NODE >
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::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 356 of file COctoMapBase_impl.h.

References MRPT_LOAD_CONFIG_VAR.

◆ 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().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ operator=()

template<class OCTREE, class OCTREE_NODE>
TInsertionOptions& mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator= ( const TInsertionOptions &  o)
inline

Definition at line 87 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMax, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMin, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::maxrange, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::occupancyThres, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probHit, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probMiss, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::pruning, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbMiss().

Here is the call graph for this function:

◆ 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().

Here is the caller graph for this function:

◆ 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().

Here is the call graph for this function:

◆ setClampingThresMax()

template<class OCTREE, class OCTREE_NODE>
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMax ( double  thresProb)
inline

(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds)

Definition at line 146 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

Here is the caller graph for this function:

◆ setClampingThresMin()

template<class OCTREE, class OCTREE_NODE>
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMin ( double  thresProb)
inline

(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds)

Definition at line 138 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

Here is the caller graph for this function:

◆ setOccupancyThres()

template<class OCTREE, class OCTREE_NODE>
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setOccupancyThres ( double  prob)
inline

(key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5)

Definition at line 119 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

Here is the caller graph for this function:

◆ setProbHit()

template<class OCTREE, class OCTREE_NODE>
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbHit ( double  prob)
inline

(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7)

Definition at line 125 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

Here is the caller graph for this function:

◆ setProbMiss()

template<class OCTREE, class OCTREE_NODE>
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbMiss ( double  prob)
inline

(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4)

Definition at line 131 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

Here is the caller graph for this function:

Member Data Documentation

◆ clampingThresMax

template<class OCTREE, class OCTREE_NODE>
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMax
private

Definition at line 236 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMax(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

◆ clampingThresMin

template<class OCTREE, class OCTREE_NODE>
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMin
private

Definition at line 233 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMin(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

◆ m_parent

template<class OCTREE, class OCTREE_NODE>
mrpt::utils::ignored_copy_ptr<myself_t> mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent
private

Definition at line 225 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMaxLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMinLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThresLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHitLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMissLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbMiss().

◆ maxrange

template<class OCTREE, class OCTREE_NODE>
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::maxrange

maximum range for how long individual beams are inserted (default -1: complete beam)

Definition at line 112 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::insertRay(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

◆ occupancyThres

template<class OCTREE, class OCTREE_NODE>
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::occupancyThres
private

Definition at line 227 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThres(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

◆ probHit

template<class OCTREE, class OCTREE_NODE>
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probHit
private

Definition at line 229 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHit(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

◆ probMiss

template<class OCTREE, class OCTREE_NODE>
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probMiss
private

Definition at line 231 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMiss(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().

◆ pruning

template<class OCTREE, class OCTREE_NODE>
bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::pruning

whether the tree is (losslessly) pruned after insertion (default: true)

Definition at line 115 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octomap::OcTree, octomap::OcTreeNode >::insertRay(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().



Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ae4571287 Thu Nov 23 00:06:53 2017 +0100 at dom oct 27 23:51:55 CET 2019