MRPT  1.9.9
mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions Struct Reference

Detailed Description

Parameters related with inserting observations into the map.

Definition at line 48 of file CHeightGridMap2D_MRF.h.

#include <mrpt/maps/CHeightGridMap2D_MRF.h>

Inheritance diagram for mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions:

Public Member Functions

 TInsertionOptions ()
 Default values loader. More...
 
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...
 
void internal_loadFromConfigFile_common (const mrpt::config::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions. More...
 
void internal_dumpToTextStream_common (std::ostream &out) const
 See utils::CLoadableOptions. More...
 

Public Attributes

Kernel methods (mrKernelDM, mrKernelDMV)
float sigma {0.15f}
 The sigma of the "Parzen"-kernel Gaussian. More...
 
float cutoffRadius
 The cutoff radius for updating cells. More...
 
float R_min {0}
 Limits for normalization of sensor readings. More...
 
float R_max {3}
 
double dm_sigma_omega {0.05}
 [DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) More...
 
Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate)
float KF_covSigma {0.35f}
 The "sigma" for the initial covariance value between cells (in meters). More...
 
float KF_initialCellStd {1.0}
 The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units). More...
 
float KF_observationModelNoise {0}
 The sensor model noise (in normalized concentration units). More...
 
float KF_defaultCellMeanValue {0}
 The default value for the mean of cells' concentration. More...
 
uint16_t KF_W_size {4}
 [mrKalmanApproximate] The size of the window of neighbor cells. More...
 
Gaussian Markov Random Fields methods (mrGMRF_SD)
double GMRF_lambdaPrior {0.01f}
 The information (Lambda) of fixed map constraints. More...
 
double GMRF_lambdaObs {10.0f}
 The initial information (Lambda) of each observation (this information will decrease with time) More...
 
double GMRF_lambdaObsLoss {0.0f}
 The loss of information of the observations with each iteration. More...
 
bool GMRF_use_occupancy_information {false}
 whether to use information of an occupancy_gridmap map for building the GMRF More...
 
std::string GMRF_simplemap_file
 simplemap_file name of the occupancy_gridmap More...
 
std::string GMRF_gridmap_image_file
 image name of the occupancy_gridmap More...
 
double GMRF_gridmap_image_res {0.01f}
 occupancy_gridmap resolution: size of each pixel (m) More...
 
size_t GMRF_gridmap_image_cx {0}
 Pixel coordinates of the origin for the occupancy_gridmap. More...
 
size_t GMRF_gridmap_image_cy {0}
 Pixel coordinates of the origin for the occupancy_gridmap. More...
 
double GMRF_saturate_min
 (Default:-inf,+inf) Saturate the estimated mean in these limits More...
 
double GMRF_saturate_max
 
bool GMRF_skip_variance {false}
 (Default:false) Skip the computation of the variance, just compute the mean 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

◆ TInsertionOptions()

CHeightGridMap2D_MRF::TInsertionOptions::TInsertionOptions ( )
default

Default values loader.

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()

void CHeightGridMap2D_MRF::TInsertionOptions::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 269 of file CHeightGridMap2D_MRF.cpp.

◆ 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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◆ internal_dumpToTextStream_common()

void CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common ( std::ostream &  out) const
inherited

See utils::CLoadableOptions.

Definition at line 688 of file CRandomFieldGridMap2D.cpp.

References mrpt::format().

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◆ internal_loadFromConfigFile_common()

void CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common ( const mrpt::config::CConfigFileBase source,
const std::string section 
)
inherited

See utils::CLoadableOptions.

Definition at line 745 of file CRandomFieldGridMap2D.cpp.

References iniFile(), and MRPT_LOAD_CONFIG_VAR.

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◆ loadFromConfigFile()

void CHeightGridMap2D_MRF::TInsertionOptions::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 285 of file CHeightGridMap2D_MRF.cpp.

References iniFile().

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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

◆ cutoffRadius

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius
inherited

The cutoff radius for updating cells.

Definition at line 256 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ dm_sigma_omega

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega {0.05}
inherited

◆ GMRF_gridmap_image_cx

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cx {0}
inherited

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 301 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_cy

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cy {0}
inherited

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 303 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_file
inherited

image name of the occupancy_gridmap

Definition at line 297 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_res

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_res {0.01f}
inherited

occupancy_gridmap resolution: size of each pixel (m)

Definition at line 299 of file CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObs

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObs {10.0f}
inherited

The initial information (Lambda) of each observation (this information will decrease with time)

Definition at line 287 of file CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObsLoss

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObsLoss {0.0f}
inherited

The loss of information of the observations with each iteration.

Definition at line 289 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_lambdaPrior

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaPrior {0.01f}
inherited

The information (Lambda) of fixed map constraints.

Definition at line 284 of file CRandomFieldGridMap2D.h.

◆ GMRF_saturate_max

◆ GMRF_saturate_min

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min
inherited

◆ GMRF_simplemap_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_simplemap_file
inherited

simplemap_file name of the occupancy_gridmap

Definition at line 295 of file CRandomFieldGridMap2D.h.

◆ GMRF_skip_variance

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_skip_variance {false}
inherited

(Default:false) Skip the computation of the variance, just compute the mean

Definition at line 309 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_use_occupancy_information

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_use_occupancy_information {false}
inherited

whether to use information of an occupancy_gridmap map for building the GMRF

Definition at line 293 of file CRandomFieldGridMap2D.h.

◆ KF_covSigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma {0.35f}
inherited

◆ KF_defaultCellMeanValue

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue {0}
inherited

◆ KF_initialCellStd

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd {1.0}
inherited

The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).

Definition at line 272 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

◆ KF_observationModelNoise

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise {0}
inherited

◆ KF_W_size

uint16_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size {4}
inherited

◆ R_max

◆ R_min

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min {0}
inherited

◆ sigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma {0.15f}
inherited

The sigma of the "Parzen"-kernel Gaussian.

Definition at line 254 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().




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