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

Detailed Description

With this struct options are provided to the observation likelihood computation process.

Definition at line 540 of file COccupancyGridMap2D.h.

#include <mrpt/maps/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions:

Public Member Functions

 TLikelihoodOptions ()
 Initilization of default parameters. More...
 
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

TLikelihoodMethod likelihoodMethod {lmLikelihoodField_Thrun}
 The selected method to compute an observation likelihood. More...
 
float LF_stdHit {0.35f}
 [LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35 More...
 
float LF_zHit {0.95f}
 [LikelihoodField] More...
 
float LF_zRandom {0.05f}
 
float LF_maxRange {81.0f}
 [LikelihoodField] The max. More...
 
uint32_t LF_decimation {5}
 [LikelihoodField] The decimation of the points in a scan, default=1 == no decimation More...
 
float LF_maxCorrsDistance {0.3f}
 [LikelihoodField] The max. More...
 
bool LF_useSquareDist {false}
 [LikelihoodField] (Default:false) Use exp(dist^2/std^2) instead of exp(dist^2/std^2) More...
 
bool LF_alternateAverageMethod {false}
 [LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product". More...
 
float MI_exponent {2.5f}
 [MI] The exponent in the MI likelihood computation. More...
 
uint32_t MI_skip_rays {10}
 [MI] The scan rays decimation: at every N rays, one will be used to compute the MI More...
 
float MI_ratio_max_distance {1.5f}
 [MI] The ratio for the max. More...
 
bool rayTracing_useDistanceFilter {true}
 [rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones. More...
 
int32_t rayTracing_decimation {10}
 [rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges. More...
 
float rayTracing_stdHit {1.0f}
 [rayTracing] The laser range sigma. More...
 
int32_t consensus_takeEachRange {1}
 [Consensus] The down-sample ratio of ranges (default=1, consider all the ranges) More...
 
float consensus_pow {5}
 [Consensus] The power factor for the likelihood (default=5) More...
 
std::vector< float > OWA_weights
 [OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse. More...
 
bool enableLikelihoodCache {true}
 Enables the usage of a cache of likelihood values (for LF methods), if set to true (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

◆ TLikelihoodOptions()

COccupancyGridMap2D::TLikelihoodOptions::TLikelihoodOptions ( )

Initilization of default parameters.

Definition at line 814 of file COccupancyGridMap2D_likelihood.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::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().

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◆ dumpToTextStream()

void COccupancyGridMap2D::TLikelihoodOptions::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 864 of file COccupancyGridMap2D_likelihood.cpp.

References mrpt::format(), mrpt::maps::COccupancyGridMap2D::lmCellsDifference, mrpt::maps::COccupancyGridMap2D::lmConsensus, mrpt::maps::COccupancyGridMap2D::lmConsensusOWA, mrpt::maps::COccupancyGridMap2D::lmLikelihoodField_II, mrpt::maps::COccupancyGridMap2D::lmLikelihoodField_Thrun, mrpt::maps::COccupancyGridMap2D::lmMeanInformation, and mrpt::maps::COccupancyGridMap2D::lmRayTracing.

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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::TLikelihoodOptions::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 823 of file COccupancyGridMap2D_likelihood.cpp.

References iniFile().

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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::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicND::TOptions, 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

◆ consensus_pow

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_pow {5}

[Consensus] The power factor for the likelihood (default=5)

Definition at line 608 of file COccupancyGridMap2D.h.

◆ consensus_takeEachRange

int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_takeEachRange {1}

[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)

Definition at line 606 of file COccupancyGridMap2D.h.

◆ enableLikelihoodCache

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::enableLikelihoodCache {true}

Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).

Definition at line 617 of file COccupancyGridMap2D.h.

◆ LF_alternateAverageMethod

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_alternateAverageMethod {false}

[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product".

Definition at line 584 of file COccupancyGridMap2D.h.

◆ LF_decimation

uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_decimation {5}

[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation

Definition at line 574 of file COccupancyGridMap2D.h.

◆ LF_maxCorrsDistance

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxCorrsDistance {0.3f}

[LikelihoodField] The max.

distance for searching correspondences around each sensed point

Definition at line 577 of file COccupancyGridMap2D.h.

◆ LF_maxRange

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxRange {81.0f}

[LikelihoodField] The max.

range of the sensor (Default= 81 m)

Definition at line 571 of file COccupancyGridMap2D.h.

◆ LF_stdHit

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_stdHit {0.35f}

[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35

Definition at line 567 of file COccupancyGridMap2D.h.

◆ LF_useSquareDist

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_useSquareDist {false}

[LikelihoodField] (Default:false) Use exp(dist^2/std^2) instead of exp(dist^2/std^2)

Definition at line 580 of file COccupancyGridMap2D.h.

◆ LF_zHit

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zHit {0.95f}

[LikelihoodField]

Definition at line 569 of file COccupancyGridMap2D.h.

◆ LF_zRandom

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zRandom {0.05f}

Definition at line 569 of file COccupancyGridMap2D.h.

◆ likelihoodMethod

TLikelihoodMethod mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::likelihoodMethod {lmLikelihoodField_Thrun}

The selected method to compute an observation likelihood.

Definition at line 564 of file COccupancyGridMap2D.h.

◆ MI_exponent

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_exponent {2.5f}

[MI] The exponent in the MI likelihood computation.

Default value = 5

Definition at line 587 of file COccupancyGridMap2D.h.

◆ MI_ratio_max_distance

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_ratio_max_distance {1.5f}

[MI] The ratio for the max.

distance used in the MI computation and in the insertion of scans, e.g. if set to 2.0 the MI will use twice the distance that the update distance.

Definition at line 594 of file COccupancyGridMap2D.h.

◆ MI_skip_rays

uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_skip_rays {10}

[MI] The scan rays decimation: at every N rays, one will be used to compute the MI

Definition at line 590 of file COccupancyGridMap2D.h.

◆ OWA_weights

std::vector<float> mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::OWA_weights

[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse.

Definition at line 613 of file COccupancyGridMap2D.h.

◆ rayTracing_decimation

int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_decimation {10}

[rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges.

Definition at line 601 of file COccupancyGridMap2D.h.

◆ rayTracing_stdHit

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_stdHit {1.0f}

[rayTracing] The laser range sigma.

Definition at line 603 of file COccupancyGridMap2D.h.

◆ rayTracing_useDistanceFilter

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_useDistanceFilter {true}

[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.

Definition at line 597 of file COccupancyGridMap2D.h.




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