MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes | Static Protected Member Functions
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams Struct Reference

Detailed Description

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

Struct for storing together the loop-closing related parameters.

Definition at line 458 of file CLoopCloserERD.h.

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

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

Public Member Functions

 TLoopClosureParams ()
 
 ~TLoopClosureParams () 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

bool LC_check_curr_partition_only
 flag indicating whether to check only the partition of the last registered node for potential loop closures More...
 
size_t LC_min_nodeid_diff
 nodeID difference for detecting potential loop closure in a partition. More...
 
double LC_eigenvalues_ratio_thresh
 Eigenvalues ratio for accepting/rejecting a hypothesis set. More...
 
int LC_min_remote_nodes
 how many remote nodes (large nodID difference should there be before I consider the potential loop closure. More...
 
int full_partition_per_nodes
 Full partition of map only afer X new nodes have been registered. More...
 
bool visualize_map_partitions
 
std::string keystroke_map_partitions
 
double offset_y_map_partitions
 
int text_index_map_partitions
 
const double balloon_elevation {3}
 
const double balloon_radius {0.5}
 
const mrpt::img::TColor balloon_std_color
 
const mrpt::img::TColor balloon_curr_color
 
const mrpt::img::TColor connecting_lines_color
 
bool has_read_config {false}
 

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

◆ TLoopClosureParams()

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

Definition at line 2537 of file CLoopCloserERD_impl.h.

◆ ~TLoopClosureParams()

template<class GRAPH_T >
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::~TLoopClosureParams ( )
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(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ dumpToTextStream()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::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 2551 of file CLoopCloserERD_impl.h.

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

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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(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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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(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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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(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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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(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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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(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ loadFromConfigFile()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::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 2576 of file CLoopCloserERD_impl.h.

References MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_double(), and mrpt::config::CConfigFileBase::read_int().

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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().

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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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

◆ balloon_curr_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const mrpt::img::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_curr_color

Definition at line 503 of file CLoopCloserERD.h.

◆ balloon_elevation

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_elevation {3}

Definition at line 500 of file CLoopCloserERD.h.

◆ balloon_radius

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_radius {0.5}

Definition at line 501 of file CLoopCloserERD.h.

◆ balloon_std_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const mrpt::img::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_std_color

Definition at line 502 of file CLoopCloserERD.h.

◆ connecting_lines_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const mrpt::img::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::connecting_lines_color

Definition at line 504 of file CLoopCloserERD.h.

◆ full_partition_per_nodes

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::full_partition_per_nodes

Full partition of map only afer X new nodes have been registered.

Definition at line 492 of file CLoopCloserERD.h.

◆ has_read_config

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

Definition at line 506 of file CLoopCloserERD.h.

◆ keystroke_map_partitions

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::keystroke_map_partitions

Definition at line 494 of file CLoopCloserERD.h.

◆ LC_check_curr_partition_only

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_check_curr_partition_only

flag indicating whether to check only the partition of the last registered node for potential loop closures

Definition at line 472 of file CLoopCloserERD.h.

◆ LC_eigenvalues_ratio_thresh

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_eigenvalues_ratio_thresh

Eigenvalues ratio for accepting/rejecting a hypothesis set.

By default this is set to 2.

Definition at line 484 of file CLoopCloserERD.h.

◆ LC_min_nodeid_diff

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
size_t mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_nodeid_diff

nodeID difference for detecting potential loop closure in a partition.

If this difference is surpassed then the partition should be investigated for loop closures using Olson's strategy.

Definition at line 479 of file CLoopCloserERD.h.

◆ LC_min_remote_nodes

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_remote_nodes

how many remote nodes (large nodID difference should there be before I consider the potential loop closure.

Definition at line 488 of file CLoopCloserERD.h.

◆ offset_y_map_partitions

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::offset_y_map_partitions

Definition at line 496 of file CLoopCloserERD.h.

◆ text_index_map_partitions

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::text_index_map_partitions

Definition at line 497 of file CLoopCloserERD.h.

◆ visualize_map_partitions

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::visualize_map_partitions

Definition at line 493 of file CLoopCloserERD.h.




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