MRPT  1.9.9
mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon Struct Reference

Detailed Description

Parameters common to any derived class.

Derived classes should derive a new struct from this one, plus "public utils::CLoadableOptions", and call the internal_* methods where appropiate to deal with the variables declared here. Derived classes instantions of their "TInsertionOptions" MUST set the pointer "m_insertOptions_common" upon construction.

Definition at line 239 of file CRandomFieldGridMap2D.h.

#include <mrpt/maps/CRandomFieldGridMap2D.h>

Inheritance diagram for mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon:

Public Member Functions

 TInsertionOptionsCommon ()
 Default values loader. 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...
 

Constructor & Destructor Documentation

◆ TInsertionOptionsCommon()

CRandomFieldGridMap2D::TInsertionOptionsCommon::TInsertionOptionsCommon ( )

Default values loader.

Definition at line 672 of file CRandomFieldGridMap2D.cpp.

Member Function Documentation

◆ internal_dumpToTextStream_common()

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

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 
)

See utils::CLoadableOptions.

Definition at line 745 of file CRandomFieldGridMap2D.cpp.

References iniFile(), and MRPT_LOAD_CONFIG_VAR.

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Member Data Documentation

◆ cutoffRadius

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

The cutoff radius for updating cells.

Definition at line 257 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}

◆ GMRF_gridmap_image_cx

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

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 302 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_cy

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

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 304 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_file

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

image name of the occupancy_gridmap

Definition at line 298 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_res

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

occupancy_gridmap resolution: size of each pixel (m)

Definition at line 300 of file CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObs

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

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

Definition at line 288 of file CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObsLoss

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

The loss of information of the observations with each iteration.

Definition at line 290 of file CRandomFieldGridMap2D.h.

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

◆ GMRF_lambdaPrior

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

The information (Lambda) of fixed map constraints.

Definition at line 285 of file CRandomFieldGridMap2D.h.

◆ GMRF_saturate_max

◆ GMRF_saturate_min

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

◆ GMRF_simplemap_file

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

simplemap_file name of the occupancy_gridmap

Definition at line 296 of file CRandomFieldGridMap2D.h.

◆ GMRF_skip_variance

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

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

Definition at line 310 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}

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

Definition at line 294 of file CRandomFieldGridMap2D.h.

◆ KF_covSigma

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

◆ KF_defaultCellMeanValue

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

◆ KF_initialCellStd

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::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).

Definition at line 273 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}

◆ KF_W_size

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

◆ R_max

◆ R_min

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

◆ sigma

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

The sigma of the "Parzen"-kernel Gaussian.

Definition at line 255 of file CRandomFieldGridMap2D.h.

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




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