MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes | Static Protected Member Functions
mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams Struct Reference

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
struct mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams

Struct for holding the optimization-related variables in a compact form.

Definition at line 152 of file CLevMarqGSO.h.

#include <mrpt/graphslam/GSO/CLevMarqGSO.h>

Inheritance diagram for mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams:

Public Member Functions

 OptimizationParams ()
 
 ~OptimizationParams () 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::system::TParametersDouble cfg
 
bool optimization_on_second_thread
 
double optimization_distance
 optimize only for the nodes found in a certain distance from the current position. More...
 
double offset_y_optimization_distance
 
int text_index_optimization_distance
 
mrpt::img::TColor optimization_distance_color
 
std::string keystroke_optimization_distance
 Keystroke to toggle the optimization distance on/off. More...
 
std::string keystroke_optimize_graph
 Keystroke to manually trigger a full graph optimization. More...
 
int LC_min_nodeid_diff
 
GRAPH_T::edges_map_t last_pair_nodes_to_edge
 

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

◆ OptimizationParams()

template<class GRAPH_T >
mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::OptimizationParams ( )

Definition at line 705 of file CLevMarqGSO_impl.h.

◆ ~OptimizationParams()

template<class GRAPH_T >
mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::~OptimizationParams ( )
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::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::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 714 of file CLevMarqGSO_impl.h.

References MRPT_END, MRPT_START, and out.

◆ 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::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::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 727 of file CLevMarqGSO_impl.h.

References ASSERTDEBMSG_, mrpt::format(), 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

◆ cfg

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::system::TParametersDouble mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::cfg

Definition at line 163 of file CLevMarqGSO.h.

◆ keystroke_optimization_distance

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::keystroke_optimization_distance

Keystroke to toggle the optimization distance on/off.

Definition at line 175 of file CLevMarqGSO.h.

◆ keystroke_optimize_graph

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::keystroke_optimize_graph

Keystroke to manually trigger a full graph optimization.

Definition at line 177 of file CLevMarqGSO.h.

◆ last_pair_nodes_to_edge

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
GRAPH_T::edges_map_t mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::last_pair_nodes_to_edge

Definition at line 184 of file CLevMarqGSO.h.

◆ LC_min_nodeid_diff

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::LC_min_nodeid_diff

Definition at line 180 of file CLevMarqGSO.h.

◆ offset_y_optimization_distance

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
double mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::offset_y_optimization_distance

Definition at line 171 of file CLevMarqGSO.h.

◆ optimization_distance

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
double mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_distance

optimize only for the nodes found in a certain distance from the current position.

Optimize for the entire graph if set to1

Definition at line 170 of file CLevMarqGSO.h.

◆ optimization_distance_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::img::TColor mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_distance_color

Definition at line 173 of file CLevMarqGSO.h.

◆ optimization_on_second_thread

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_on_second_thread

Definition at line 165 of file CLevMarqGSO.h.

◆ text_index_optimization_distance

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::text_index_optimization_distance

Definition at line 172 of file CLevMarqGSO.h.




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