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

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
struct mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams

Definition at line 121 of file CRangeScanOps.h.

#include <mrpt/graphslam/misc/CRangeScanOps.h>

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

Public Member Functions

 TParams ()=default
 
 ~TParams () override=default
 
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
 
mrpt::obs::T3DPointsTo2DScanParams conversion_params
 Struct holding the parameters of 3D to the corresponding 2D range scan conversion. More...
 
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

◆ TParams()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::TParams ( )
default

◆ ~TParams()

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::~TParams ( )
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::CRangeScanOps< GRAPH_T >::TParams::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 171 of file CRangeScanOps_impl.h.

References mrpt::obs::T3DPointsTo2DScanParams::angle_inf, mrpt::obs::T3DPointsTo2DScanParams::angle_sup, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::conversion_params, mrpt::config::CLoadableOptions::dumpToTextStream(), mrpt::format(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::icp, MRPT_END, MRPT_START, mrpt::slam::CICP::options, mrpt::obs::T3DPointsTo2DScanParams::oversampling_ratio, mrpt::RAD2DEG(), mrpt::obs::T3DPointsTo2DScanParams::sensorLabel, and mrpt::obs::T3DPointsTo2DScanParams::z_min.

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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()

template<class GRAPH_T >
void mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::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 196 of file CRangeScanOps_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

◆ conversion_params

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::obs::T3DPointsTo2DScanParams mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::conversion_params

Struct holding the parameters of 3D to the corresponding 2D range scan conversion.

Definition at line 137 of file CRangeScanOps.h.

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

◆ has_read_config

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

Definition at line 139 of file CRangeScanOps.h.

◆ icp

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



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