MRPT  1.9.9
mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams Struct Reference

Detailed Description

template<class GRAPH_T>
struct mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams

Parameters structure for managing the relevant to the decider variables in a compact manner.

Definition at line 85 of file CIncrementalNodeRegistrationDecider.h.

#include <mrpt/graphslam/interfaces/CIncrementalNodeRegistrationDecider.h>

Inheritance diagram for mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams:

Public Member Functions

 TParams ()=default
 
 ~TParams ()=default
 
void loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section)
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (std::ostream &out) const
 This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...
 
void getAsString (std::string *params_out) const
 Return a string with the configuration parameters. More...
 
std::string getAsString () 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::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

double registration_max_distance
 
double registration_max_angle
 

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

◆ TParams()

template<class GRAPH_T >
mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::TParams ( )
default

◆ ~TParams()

template<class GRAPH_T >
mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::~TParams ( )
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(), mrpt::ros1bridge::MapHdl::loadMap(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ dumpToTextStream()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::dumpToTextStream ( std::ostream &  out) const
virtual

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 117 of file CIncrementalNodeRegistrationDecider_impl.h.

References mrpt::format(), mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::getAsString(), MRPT_END, and MRPT_START.

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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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◆ getAsString() [1/2]

template<class GRAPH_T >
void mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::getAsString ( std::string params_out) const

Return a string with the configuration parameters.

Definition at line 142 of file CIncrementalNodeRegistrationDecider_impl.h.

References mrpt::format(), MRPT_END, MRPT_START, and mrpt::RAD2DEG().

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◆ getAsString() [2/2]

template<class GRAPH_T >
std::string mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::getAsString ( ) const

Definition at line 163 of file CIncrementalNodeRegistrationDecider_impl.h.

References MRPT_END, and MRPT_START.

Referenced by mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::dumpToTextStream().

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◆ loadFromConfigFile()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::loadFromConfigFile ( const mrpt::config::CConfigFileBase source,
const std::string section 
)
virtual

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::config::CLoadableOptions.

Definition at line 126 of file CIncrementalNodeRegistrationDecider_impl.h.

References mrpt::DEG2RAD(), MRPT_END, and MRPT_START.

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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

◆ registration_max_angle

template<class GRAPH_T >
double mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::registration_max_angle

Definition at line 102 of file CIncrementalNodeRegistrationDecider.h.

◆ registration_max_distance

template<class GRAPH_T >
double mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams::registration_max_distance

Definition at line 101 of file CIncrementalNodeRegistrationDecider.h.




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