MRPT  1.9.9
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams Struct Reference

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
struct mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams

Struct for storing together the parameters needed for ICP matching, laser scans visualization etc.

Definition at line 410 of file CLoopCloserERD.h.

#include <mrpt/graphslam/ERD/CLoopCloserERD.h>

Inheritance diagram for mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams:

Public Member Functions

 TLaserParams ()
 
 ~TLaserParams () override
 
void loadFromConfigFile (const mrpt::config::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 (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

mrpt::slam::CICP icp
 
int prev_nodes_for_ICP
 How many nodes back to check ICP against? More...
 
const mrpt::img::TColor laser_scans_color
 see Constructor for initialization More...
 
bool visualize_laser_scans
 
std::string keystroke_laser_scans = "l"
 
bool use_scan_matching
 Indicate whethet to use scan-matching at all during graphSLAM [on by default]. More...
 
bool has_read_config = false
 
TSlidingWindow mahal_distance_ICP_odom_win
 Keep track of the mahalanobis distance between the initial pose difference and the suggested new edge for the pairs of checked nodes. More...
 
TSlidingWindow goodness_threshold_win
 Keep track of ICP Goodness values for ICP between nearby nodes and adapt the Goodness threshold based on the median of the recorded Goodness values. 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

◆ TLaserParams()

template<class GRAPH_T >
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::TLaserParams ( )

Definition at line 2491 of file CLoopCloserERD_impl.h.

◆ ~TLaserParams()

template<class GRAPH_T >
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::~TLaserParams ( )
overridedefault

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::CLoopCloserERD< GRAPH_T >::TLaserParams::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 2502 of file CLoopCloserERD_impl.h.

References MRPT_END, and MRPT_START.

◆ 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()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::loadFromConfigFile ( const mrpt::config::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::config::CLoadableOptions.

Definition at line 2517 of file CLoopCloserERD_impl.h.

References MRPT_END, and MRPT_START.

◆ 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

◆ goodness_threshold_win

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
TSlidingWindow mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::goodness_threshold_win

Keep track of ICP Goodness values for ICP between nearby nodes and adapt the Goodness threshold based on the median of the recorded Goodness values.

Definition at line 453 of file CLoopCloserERD.h.

◆ has_read_config

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::has_read_config = false

Definition at line 441 of file CLoopCloserERD.h.

◆ icp

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::slam::CICP mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::icp

Definition at line 420 of file CLoopCloserERD.h.

◆ keystroke_laser_scans

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::keystroke_laser_scans = "l"

Definition at line 431 of file CLoopCloserERD.h.

◆ laser_scans_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const mrpt::img::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::laser_scans_color
Initial value:
=
mrpt::img::TColor(0, 20, 255)

see Constructor for initialization

Definition at line 426 of file CLoopCloserERD.h.

◆ mahal_distance_ICP_odom_win

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
TSlidingWindow mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::mahal_distance_ICP_odom_win

Keep track of the mahalanobis distance between the initial pose difference and the suggested new edge for the pairs of checked nodes.

Definition at line 442 of file CLoopCloserERD.h.

◆ prev_nodes_for_ICP

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::prev_nodes_for_ICP

How many nodes back to check ICP against?

Definition at line 423 of file CLoopCloserERD.h.

◆ use_scan_matching

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::use_scan_matching

Indicate whethet to use scan-matching at all during graphSLAM [on by default].

Warning
It is strongly recomended that the user does not set this to false (via the .ini file). graphSLAM may diverge significantly if no scan-matching is not used.

Definition at line 440 of file CLoopCloserERD.h.

◆ visualize_laser_scans

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::visualize_laser_scans

Definition at line 428 of file CLoopCloserERD.h.




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