Detailed Description

Virtual base for specifying the kind and parameters of one map (normally, to be inserted into mrpt::maps::CMultiMetricMap) See mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile() as an easy way of initialize this object, or construct with the factory methods <metric_map_class>::MapDefinition() and TMetricMapInitializer::factory()

See also: TSetOfMetricMapInitializers, mrpt::maps::CMultiMetricMap

Definition at line 34 of file TMetricMapInitializer.h.

#include <mrpt/maps/TMetricMapInitializer.h>

Inheritance diagram for mrpt::maps::TMetricMapInitializer:

Public Types
using	Ptr = std::shared_ptr< TMetricMapInitializer >
	Smart pointer to TMetricMapInitializer. More...

Public Member Functions
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &sectionNamePrefix) override
	Load all params from a config file/source. More...

void	dumpToTextStream (mrpt::utils::CStream &out) const override
	Dump the options of the metric map in human-readable format. More...

const mrpt::utils::TRuntimeClassId::Ptr &	getMetricMapClassType () const
	Query the map type (C++ class), as set by the factory method MapDefinition() 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...

Static Public Member Functions
static TMetricMapInitializer *	factory (const std::string &mapClassName)
	Looks up in the registry of known map types and call the corresponding `<metric_map_class>::MapDefinition()`. More...

Public Attributes
mrpt::maps::TMapGenericParams	genericMapParams
	Common params for all maps: These are automatically set in TMetricMapTypesRegistry::factoryMapObjectFromDefinition() More...

Protected Member Functions
	TMetricMapInitializer (const mrpt::utils::TRuntimeClassId *classID)

virtual void	loadFromConfigFile_map_specific (const mrpt::utils::CConfigFileBase &source, const std::string &sectionNamePrefix)=0
	Load all map-specific params. More...

virtual void	dumpToTextStream_map_specific (mrpt::utils::CStream &out) const =0

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)

Protected Attributes
const mrpt::utils::TRuntimeClassId::Ptr	metricMapClassType
	Derived classes set this to CLASS_ID(< class >) where < class > is any CMetricMap derived class. More...

Friends
class	TSetOfMetricMapInitializers

Member Typedef Documentation

◆ Ptr

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

Smart pointer to TMetricMapInitializer.

Definition at line 38 of file TMetricMapInitializer.h.

Constructor & Destructor Documentation

◆ TMetricMapInitializer()

TMetricMapInitializer::TMetricMapInitializer ( const mrpt::utils::TRuntimeClassId * classID )

protected

Definition at line 30 of file TMetricMapInitializer.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 TMetricMapInitializer::dumpToTextStream ( mrpt::utils::CStream & out ) const

overridevirtual

Dump the options of the metric map in human-readable format.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 52 of file TMetricMapInitializer.cpp.

References mrpt::maps::TMapGenericParams::dumpToTextStream(), dumpToTextStream_map_specific(), genericMapParams, metricMapClassType, and mrpt::utils::CStream::printf().

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◆ dumpToTextStream_map_specific()

virtual void mrpt::maps::TMetricMapInitializer::dumpToTextStream_map_specific ( mrpt::utils::CStream & out ) const

protectedpure virtual

Referenced by 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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◆ factory()

TMetricMapInitializer * TMetricMapInitializer::factory ( const std::string & mapClassName )

static

Looks up in the registry of known map types and call the corresponding <metric_map_class>::MapDefinition().

Definition at line 22 of file TMetricMapInitializer.cpp.

◆ getMetricMapClassType()

const mrpt::utils::TRuntimeClassId::Ptr& mrpt::maps::TMetricMapInitializer::getMetricMapClassType ( ) const

inline

Query the map type (C++ class), as set by the factory method MapDefinition()

Definition at line 59 of file TMetricMapInitializer.h.

References metricMapClassType.

Referenced by mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition().

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◆ loadFromConfigFile()

void TMetricMapInitializer::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	sectionNamePrefix
	)

overridevirtual

Load all params from a config file/source.

For examples and format, read the docs of mrpt::maps::CMultiMetricMap Typical section names:

<sectionNamePrefix>_creationOpts
<sectionNamePrefix>_insertOpts
<sectionNamePrefix>_likelihoodOpts

For examples and format, read the docs of mrpt::maps::CMultiMetricMap

Implements mrpt::utils::CLoadableOptions.

Definition at line 38 of file TMetricMapInitializer.cpp.

References genericMapParams, mrpt::maps::TMapGenericParams::loadFromConfigFile(), and loadFromConfigFile_map_specific().

Referenced by mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile(), mrpt::maps::CSimplePointsMap::TMapDefinition::loadFromConfigFile_map_specific(), mrpt::maps::CWeightedPointsMap::TMapDefinition::loadFromConfigFile_map_specific(), and mrpt::maps::CColouredPointsMap::TMapDefinition::loadFromConfigFile_map_specific().

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◆ loadFromConfigFile_map_specific()

virtual void mrpt::maps::TMetricMapInitializer::loadFromConfigFile_map_specific	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	sectionNamePrefix
	)

protectedpure virtual

Load all map-specific params.

Referenced by 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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◆ 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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Friends And Related Function Documentation

◆ TSetOfMetricMapInitializers

friend class TSetOfMetricMapInitializers

friend

Definition at line 36 of file TMetricMapInitializer.h.

Member Data Documentation

◆ genericMapParams

mrpt::maps::TMapGenericParams mrpt::maps::TMetricMapInitializer::genericMapParams

Common params for all maps: These are automatically set in TMetricMapTypesRegistry::factoryMapObjectFromDefinition()

Definition at line 42 of file TMetricMapInitializer.h.

Referenced by dumpToTextStream(), mrpt::maps::internal::TMetricMapTypesRegistry::factoryMapObjectFromDefinition(), and loadFromConfigFile().

◆ metricMapClassType

const mrpt::utils::TRuntimeClassId::Ptr mrpt::maps::TMetricMapInitializer::metricMapClassType

protected

Derived classes set this to CLASS_ID(< class >) where < class > is any CMetricMap derived class.

Definition at line 72 of file TMetricMapInitializer.h.

Referenced by dumpToTextStream(), and getMetricMapClassType().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Member Typedef Documentation

◆ Ptr

Constructor & Destructor Documentation

◆ TMetricMapInitializer()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpToTextStream_map_specific()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ factory()

◆ getMetricMapClassType()

◆ loadFromConfigFile()

◆ loadFromConfigFile_map_specific()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Friends And Related Function Documentation

◆ TSetOfMetricMapInitializers

Member Data Documentation

◆ genericMapParams

◆ metricMapClassType