MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes | Static Protected Member Functions | Private Attributes
mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions Struct Reference

Detailed Description

template<class octree_t, class octree_node_t>
struct mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions

With this struct options are provided to the observation insertion process.

See also
CObservation::insertObservationInto()

Definition at line 70 of file COctoMapBase.h.

#include <mrpt/maps/COctoMapBase.h>

Inheritance diagram for mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions:

Public Member Functions

 TInsertionOptions (myself_t &parent)
 Initilization of default parameters. More...
 
 TInsertionOptions ()
 Special constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc. More...
 
 TInsertionOptions (const TInsertionOptions &o)
 
TInsertionOptionsoperator= (const TInsertionOptions &o)
 
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 setOccupancyThres (double prob)
 insertion (default: true) More...
 
void setProbHit (double prob)
 (key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7) More...
 
void setProbMiss (double prob)
 (key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4) More...
 
void setClampingThresMin (double thresProb)
 (key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds) More...
 
void setClampingThresMax (double thresProb)
 (key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds) More...
 
double getOccupancyThres () const
 
float getOccupancyThresLog () const
 
double getProbHit () const
 
float getProbHitLog () const
 
double getProbMiss () const
 
float getProbMissLog () const
 
double getClampingThresMin () const
 
float getClampingThresMinLog () const
 
double getClampingThresMax () const
 
float getClampingThresMaxLog () const
 
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

double maxrange
 maximum range for how long individual beams are More...
 
bool pruning {true}
 inserted (default -1: complete beam) 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)
 

Private Attributes

mrpt::ignored_copy_ptr< myself_tm_parent
 
double occupancyThres {0.5}
 
double probHit
 
double probMiss {0.4}
 
double clampingThresMin
 
double clampingThresMax
 

Constructor & Destructor Documentation

◆ TInsertionOptions() [1/3]

template<class octree_t, class octree_node_t>
mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::TInsertionOptions ( myself_t parent)

Initilization of default parameters.

◆ TInsertionOptions() [2/3]

template<class OCTREE , class OCTREE_NODE >
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions ( )

Special constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc.

Definition at line 312 of file COctoMapBase_impl.h.

◆ TInsertionOptions() [3/3]

template<class octree_t, class octree_node_t>
mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::TInsertionOptions ( const TInsertionOptions o)
inline

Definition at line 78 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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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 OCTREE , class OCTREE_NODE >
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::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 351 of file COctoMapBase_impl.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbMiss(), LOADABLEOPTS_DUMP_VAR, 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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◆ getClampingThresMax()

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax ( ) const
inline
Returns
maximum threshold for occupancy clamping in the sensor model (probability)

Definition at line 193 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMax, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ getClampingThresMaxLog()

template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMaxLog ( ) const
inline
Returns
maximum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 202 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getClampingThresMin()

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin ( ) const
inline
Returns
minimum threshold for occupancy clamping in the sensor model (probability)

Definition at line 178 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMin, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ getClampingThresMinLog()

template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMinLog ( ) const
inline
Returns
minimum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 187 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getOccupancyThres()

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres ( ) const
inline
Returns
threshold (probability) for occupancy - sensor model

Definition at line 143 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::occupancyThres.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ getOccupancyThresLog()

template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThresLog ( ) const
inline
Returns
threshold (logodds) for occupancy - sensor model

Definition at line 151 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getProbHit()

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit ( ) const
inline
Returns
probablility for a "hit" in the sensor model (probability)

Definition at line 157 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probHit.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ getProbHitLog()

template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHitLog ( ) const
inline
Returns
probablility for a "hit" in the sensor model (logodds)

Definition at line 165 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getProbMiss()

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss ( ) const
inline
Returns
probablility for a "miss" in the sensor model (probability)

Definition at line 167 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probMiss.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ getProbMissLog()

template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMissLog ( ) const
inline
Returns
probablility for a "miss" in the sensor model (logodds)

Definition at line 175 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ loadFromConfigFile()

template<class OCTREE , class OCTREE_NODE >
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::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 383 of file COctoMapBase_impl.h.

References iniFile(), MRPT_LOAD_CONFIG_VAR, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbMiss().

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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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◆ operator=()

template<class octree_t, class octree_node_t>
TInsertionOptions& mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator= ( const TInsertionOptions o)
inline

Definition at line 80 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMax, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMin, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::maxrange, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::occupancyThres, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probHit, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probMiss, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::pruning, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss().

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::TInsertionOptions().

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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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◆ setClampingThresMax()

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax ( double  thresProb)
inline

(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds)

Definition at line 137 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ setClampingThresMin()

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin ( double  thresProb)
inline

(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds)

Definition at line 130 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ setOccupancyThres()

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres ( double  prob)
inline

insertion (default: true)

(key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5)

Definition at line 111 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ setProbHit()

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit ( double  prob)
inline

(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7)

Definition at line 117 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ setProbMiss()

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss ( double  prob)
inline

(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4)

Definition at line 123 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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Member Data Documentation

◆ clampingThresMax

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMax
private

◆ clampingThresMin

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMin
private

◆ m_parent

template<class octree_t, class octree_node_t>
mrpt::ignored_copy_ptr<myself_t> mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent
private

Definition at line 208 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMaxLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMinLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThresLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHitLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMissLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss().

◆ maxrange

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::maxrange
Initial value:
{
-1.}

maximum range for how long individual beams are

Definition at line 103 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ occupancyThres

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::occupancyThres {0.5}
private

◆ probHit

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probHit
private

◆ probMiss

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probMiss {0.4}
private

◆ pruning

template<class octree_t, class octree_node_t>
bool mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::pruning {true}

inserted (default -1: complete beam)

whether the tree is (losslessly) pruned after

Definition at line 106 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().




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