MRPT  1.9.9
mrpt::nav::CHolonomicFullEval::TOptions Struct Reference

Detailed Description

Algorithm options.

Definition at line 73 of file CHolonomicFullEval.h.

#include <mrpt/nav/holonomic/CHolonomicFullEval.h>

Inheritance diagram for mrpt::nav::CHolonomicFullEval::TOptions:

Public Member Functions

 TOptions ()
 
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 saveToConfigFile (mrpt::config::CConfigFileBase &cfg, const std::string &section) const override
 This method saves the options to a ".ini"-like file or memory-stored string list. 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...
 
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...
 
virtual void dumpToTextStream (std::ostream &out) const
 This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More...
 

Public Attributes

double TOO_CLOSE_OBSTACLE {0.15}
 Directions with collision-free distances below this threshold are not elegible. More...
 
double TARGET_SLOW_APPROACHING_DISTANCE {0.60}
 Start to reduce speed when closer than this to target [m]. More...
 
double OBSTACLE_SLOW_DOWN_DISTANCE {0.15}
 Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance) More...
 
double HYSTERESIS_SECTOR_COUNT {5}
 Range of "sectors" (directions) for hysteresis over successive timesteps. More...
 
std::vector< double > factorWeights
 See docs above. More...
 
std::vector< int32_tfactorNormalizeOrNot
 0/1 to normalize factors. More...
 
std::vector< std::vector< int32_t > > PHASE_FACTORS
 Factor indices [0,4] for the factors to consider in each phase 1,2,...N of the movement decision (Defaults: PHASE1_FACTORS=0 1 2, PHASE2_FACTORS=3 4`) More...
 
std::vector< double > PHASE_THRESHOLDS
 Phase 1,2,N-1... More...
 
bool LOG_SCORE_MATRIX {false}
 (default:false, to save space) More...
 
double clearance_threshold_ratio {0.05}
 Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction. More...
 
double gap_width_ratio_threshold {0.25}
 Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target. 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

◆ TOptions()

CHolonomicFullEval::TOptions::TOptions ( )

Definition at line 621 of file CHolonomicFullEval.cpp.

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(), and mrpt::ros1bridge::MapHdl::loadMap().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ dumpToTextStream()

void CLoadableOptions::dumpToTextStream ( std::ostream &  out) const
virtualinherited

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 in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMatchingOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CPointsMap::TRenderOptions, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::vision::TStereoSystemParams, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::TKF_options, mrpt::graphslam::TSlidingWindow, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::maps::TMetricMapInitializer, mrpt::slam::CMetricMapBuilderICP::TConfigParams, and mrpt::slam::TKLDParams.

Definition at line 77 of file CLoadableOptions.cpp.

References mrpt::config::CConfigFileMemory::getContent(), and mrpt::config::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), and mrpt::maps::COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific().

Here is the call graph for this function:
Here is the caller graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ loadFromConfigFile()

void CHolonomicFullEval::TOptions::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 630 of file CHolonomicFullEval.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::containers::empty(), mrpt::format(), MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_NO_DEFAULT, MRPT_START, and NUM_FACTORS.

Here is the call graph for this function:

◆ 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().

Here is the call graph for this function:

◆ saveToConfigFile()

void CHolonomicFullEval::TOptions::saveToConfigFile ( mrpt::config::CConfigFileBase target,
const std::string section 
) const
overridevirtual

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 673 of file CHolonomicFullEval.cpp.

References ASSERT_EQUAL_, mrpt::format(), MRPT_END, MRPT_SAVE_CONFIG_VAR_COMMENT, mrpt::config::MRPT_SAVE_NAME_PADDING(), mrpt::config::MRPT_SAVE_VALUE_PADDING(), MRPT_START, NUM_FACTORS, and mrpt::system::sprintf_container().

Here is the call graph for this function:

◆ 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().

Here is the call graph for this function:

Member Data Documentation

◆ clearance_threshold_ratio

double mrpt::nav::CHolonomicFullEval::TOptions::clearance_threshold_ratio {0.05}

Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction.

Definition at line 104 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ factorNormalizeOrNot

std::vector<int32_t> mrpt::nav::CHolonomicFullEval::TOptions::factorNormalizeOrNot

0/1 to normalize factors.

Definition at line 89 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ factorWeights

std::vector<double> mrpt::nav::CHolonomicFullEval::TOptions::factorWeights

◆ gap_width_ratio_threshold

double mrpt::nav::CHolonomicFullEval::TOptions::gap_width_ratio_threshold {0.25}

Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target.

Definition at line 107 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ HYSTERESIS_SECTOR_COUNT

double mrpt::nav::CHolonomicFullEval::TOptions::HYSTERESIS_SECTOR_COUNT {5}

Range of "sectors" (directions) for hysteresis over successive timesteps.

Definition at line 85 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ LOG_SCORE_MATRIX

bool mrpt::nav::CHolonomicFullEval::TOptions::LOG_SCORE_MATRIX {false}

(default:false, to save space)

Definition at line 99 of file CHolonomicFullEval.h.

◆ OBSTACLE_SLOW_DOWN_DISTANCE

double mrpt::nav::CHolonomicFullEval::TOptions::OBSTACLE_SLOW_DOWN_DISTANCE {0.15}

Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance)

Definition at line 82 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ PHASE_FACTORS

std::vector<std::vector<int32_t> > mrpt::nav::CHolonomicFullEval::TOptions::PHASE_FACTORS

Factor indices [0,4] for the factors to consider in each phase 1,2,...N of the movement decision (Defaults: PHASE1_FACTORS=0 1 2, PHASE2_FACTORS=3 4`)

Definition at line 93 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ PHASE_THRESHOLDS

std::vector<double> mrpt::nav::CHolonomicFullEval::TOptions::PHASE_THRESHOLDS

Phase 1,2,N-1...

scores must be above this relative range threshold [0,1] to be considered in phase 2 (Default:0.75)

Definition at line 96 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ TARGET_SLOW_APPROACHING_DISTANCE

double mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE {0.60}

◆ TOO_CLOSE_OBSTACLE

double mrpt::nav::CHolonomicFullEval::TOptions::TOO_CLOSE_OBSTACLE {0.15}

Directions with collision-free distances below this threshold are not elegible.

Definition at line 77 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().




Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: ce1a28c9f Fri Aug 23 08:02:09 2019 +0200 at vie ago 23 08:10:11 CEST 2019