MRPT  1.9.9
mrpt::maps::COccupancyGridMap2D::TInsertionOptions Class Reference

Detailed Description

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

See also
CObservation::insertIntoGridMap

Definition at line 459 of file COccupancyGridMap2D.h.

#include <mrpt/maps/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap2D::TInsertionOptions:

Public Member Functions

 TInsertionOptions ()=default
 
void loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
 This method load the options from a ".ini" file. More...
 
void dumpToTextStream (std::ostream &out) const override
 This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. 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::config::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

float mapAltitude {0}
 The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map! More...
 
bool useMapAltitude {false}
 The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true. More...
 
float maxDistanceInsertion {15.0f}
 The largest distance at which cells will be updated (Default 15 meters) More...
 
float maxOccupancyUpdateCertainty {0.65f}
 A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8) More...
 
float maxFreenessUpdateCertainty {.0f}
 A value in the range [0.5,1] for updating a free cell. More...
 
float maxFreenessInvalidRanges {.0f}
 Like maxFreenessUpdateCertainty, but for invalid ranges (no echo). More...
 
bool considerInvalidRangesAsFreeSpace {true}
 If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray. More...
 
uint16_t decimation {1}
 Specify the decimation of the range scan (default=1 : take all the range values!) More...
 
float horizontalTolerance {mrpt::DEG2RAD(0.05f)}
 The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0). More...
 
float CFD_features_gaussian_size {1}
 Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled) More...
 
float CFD_features_median_size {3}
 Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled) More...
 
bool wideningBeamsWithDistance {false}
 Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false) More...
 

Static Protected Member Functions

static void dumpVar_int (std::ostream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (std::ostream &out, const char *varName, float v)
 
static void dumpVar_double (std::ostream &out, const char *varName, double v)
 
static void dumpVar_bool (std::ostream &out, const char *varName, bool v)
 
static void dumpVar_string (std::ostream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

◆ TInsertionOptions()

mrpt::maps::COccupancyGridMap2D::TInsertionOptions::TInsertionOptions ( )
default

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::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::ros1bridge::MapHdl::loadMap().

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◆ dumpToTextStream()

void COccupancyGridMap2D::TInsertionOptions::dumpToTextStream ( std::ostream &  out) const
overridevirtual

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 1334 of file COccupancyGridMap2D_insert.cpp.

References mrpt::format(), and LOADABLEOPTS_DUMP_VAR.

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◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( std::ostream &  out,
const char *  varName,
bool  v 
)
staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double ( std::ostream &  out,
const char *  varName,
double  v 
)
staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float ( std::ostream &  out,
const char *  varName,
float  v 
)
staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int ( std::ostream &  out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 45 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ dumpVar_string()

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

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

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◆ loadFromConfigFile()

void COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile ( const mrpt::config::CConfigFileBase source,
const std::string section 
)
overridevirtual

This method load the options from a ".ini" file.

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,...

Implements mrpt::config::CLoadableOptions.

Definition at line 1312 of file COccupancyGridMap2D_insert.cpp.

References iniFile(), MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREES.

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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::config::CLoadableOptions::loadFromConfigFile().

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◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile ( mrpt::config::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::maps::TSetOfMetricMapInitializers, mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::maps::COccupancyGridMap3D::TInsertionOptions, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::maps::TMapGenericParams, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::maps::TMetricMapInitializer, 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::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::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::config::CLoadableOptions::saveToConfigFile().

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Member Data Documentation

◆ CFD_features_gaussian_size

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_gaussian_size {1}

Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled)

Definition at line 512 of file COccupancyGridMap2D.h.

◆ CFD_features_median_size

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_median_size {3}

Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled)

Definition at line 515 of file COccupancyGridMap2D.h.

◆ considerInvalidRangesAsFreeSpace

bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::considerInvalidRangesAsFreeSpace {true}

If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray.

Definition at line 502 of file COccupancyGridMap2D.h.

◆ decimation

uint16_t mrpt::maps::COccupancyGridMap2D::TInsertionOptions::decimation {1}

Specify the decimation of the range scan (default=1 : take all the range values!)

Definition at line 505 of file COccupancyGridMap2D.h.

◆ horizontalTolerance

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::horizontalTolerance {mrpt::DEG2RAD(0.05f)}

The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0).

Definition at line 509 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood().

◆ mapAltitude

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::mapAltitude {0}

The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map!

Definition at line 483 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ maxDistanceInsertion

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxDistanceInsertion {15.0f}

The largest distance at which cells will be updated (Default 15 meters)

Definition at line 489 of file COccupancyGridMap2D.h.

◆ maxFreenessInvalidRanges

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxFreenessInvalidRanges {.0f}

Like maxFreenessUpdateCertainty, but for invalid ranges (no echo).

(default=0 means same than maxOccupancyUpdateCertainty)

Definition at line 498 of file COccupancyGridMap2D.h.

◆ maxFreenessUpdateCertainty

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxFreenessUpdateCertainty {.0f}

A value in the range [0.5,1] for updating a free cell.

(default=0 means use the same than maxOccupancyUpdateCertainty)

Definition at line 495 of file COccupancyGridMap2D.h.

◆ maxOccupancyUpdateCertainty

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxOccupancyUpdateCertainty {0.65f}

A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8)

Definition at line 492 of file COccupancyGridMap2D.h.

◆ useMapAltitude

bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::useMapAltitude {false}

The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true.

Definition at line 486 of file COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ wideningBeamsWithDistance

bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::wideningBeamsWithDistance {false}

Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false)

Definition at line 518 of file COccupancyGridMap2D.h.




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