MRPT  1.9.9
mrpt::slam::CRangeBearingKFSLAM::TOptions Struct Reference

Detailed Description

The options for the algorithm.

Definition at line 163 of file CRangeBearingKFSLAM.h.

#include <mrpt/slam/CRangeBearingKFSLAM.h>

Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM::TOptions:

Public Member Functions

 TOptions ()
 Default values. 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...
 

Public Attributes

mrpt::math::CVectorFloat stds_Q_no_odo
 A 7-length vector with the std. More...
 
float std_sensor_range {0.01f}
 The std. More...
 
float std_sensor_yaw
 
float std_sensor_pitch
 
float std_odo_z_additional {0}
 Additional std. More...
 
bool doPartitioningExperiment {false}
 If set to true (default=false), map will be partitioned using the method stated by partitioningMethod. More...
 
float quantiles_3D_representation {3}
 Default = 3. More...
 
int partitioningMethod {0}
 Applicable only if "doPartitioningExperiment=true". More...
 
TDataAssociationMethod data_assoc_method {assocNN}
 
TDataAssociationMetric data_assoc_metric {metricMaha}
 
double data_assoc_IC_chi2_thres {0.99}
 Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99) More...
 
TDataAssociationMetric data_assoc_IC_metric {metricMaha}
 Whether to use mahalanobis (->chi2 criterion) vs. More...
 
double data_assoc_IC_ml_threshold {0.0}
 Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) More...
 
bool create_simplemap {false}
 Whether to fill m_SFs (default=false) More...
 
bool force_ignore_odometry {false}
 Whether to ignore the input odometry and behave as if there was no odometry at all (default: false) 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()

CRangeBearingKFSLAM::TOptions::TOptions ( )

Default values.

Definition at line 784 of file CRangeBearingKFSLAM.cpp.

References stds_Q_no_odo.

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 CRangeBearingKFSLAM::TOptions::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 799 of file CRangeBearingKFSLAM.cpp.

References mrpt::format().

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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(), 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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◆ loadFromConfigFile()

void CRangeBearingKFSLAM::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 746 of file CRangeBearingKFSLAM.cpp.

References ASSERT_, create_simplemap, data_assoc_IC_chi2_thres, data_assoc_IC_metric, data_assoc_IC_ml_threshold, data_assoc_method, data_assoc_metric, mrpt::DEG2RAD(), doPartitioningExperiment, force_ignore_odometry, MRPT_LOAD_CONFIG_VAR, partitioningMethod, quantiles_3D_representation, mrpt::RAD2DEG(), mrpt::math::CVectorDynamic< T >::size(), std_odo_z_additional, std_sensor_pitch, std_sensor_range, std_sensor_yaw, and stds_Q_no_odo.

Referenced by mrpt::slam::CRangeBearingKFSLAM::loadOptions().

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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

◆ create_simplemap

bool mrpt::slam::CRangeBearingKFSLAM::TOptions::create_simplemap {false}

Whether to fill m_SFs (default=false)

Definition at line 216 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().

◆ data_assoc_IC_chi2_thres

double mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_chi2_thres {0.99}

Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)

Definition at line 207 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().

◆ data_assoc_IC_metric

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_metric {metricMaha}

Whether to use mahalanobis (->chi2 criterion) vs.

Matching likelihood.

Definition at line 210 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().

◆ data_assoc_IC_ml_threshold

double mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_ml_threshold {0.0}

Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)

Definition at line 213 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().

◆ data_assoc_method

TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_method {assocNN}

◆ data_assoc_metric

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_metric {metricMaha}

◆ doPartitioningExperiment

bool mrpt::slam::CRangeBearingKFSLAM::TOptions::doPartitioningExperiment {false}

If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.

Definition at line 191 of file CRangeBearingKFSLAM.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), mrpt::slam::CRangeBearingKFSLAM::getLastPartitionLandmarks(), loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().

◆ force_ignore_odometry

bool mrpt::slam::CRangeBearingKFSLAM::TOptions::force_ignore_odometry {false}

Whether to ignore the input odometry and behave as if there was no odometry at all (default: false)

Definition at line 220 of file CRangeBearingKFSLAM.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM::getIncrementFromOdometry(), loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise().

◆ partitioningMethod

int mrpt::slam::CRangeBearingKFSLAM::TOptions::partitioningMethod {0}

Applicable only if "doPartitioningExperiment=true".

0: Automatically detect partition through graph-cut. N>=1: Cut every "N" observations.

Definition at line 200 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().

◆ quantiles_3D_representation

float mrpt::slam::CRangeBearingKFSLAM::TOptions::quantiles_3D_representation {3}

Default = 3.

Definition at line 194 of file CRangeBearingKFSLAM.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), and loadFromConfigFile().

◆ std_odo_z_additional

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_odo_z_additional {0}

Additional std.

dev. to sum to the motion model in the z axis (useful when there is only 2D odometry and we want to put things hard to the algorithm) (default=0)

Definition at line 187 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise().

◆ std_sensor_pitch

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_pitch

◆ std_sensor_range

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_range {0.01f}

The std.

deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.

Definition at line 182 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM::OnPreComputingPredictions().

◆ std_sensor_yaw

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_yaw

◆ stds_Q_no_odo

mrpt::math::CVectorFloat mrpt::slam::CRangeBearingKFSLAM::TOptions::stds_Q_no_odo

A 7-length vector with the std.

deviation of the transition model in (x,y,z, qr,qx,qy,qz) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y z: In meters.

Definition at line 178 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), and TOptions().




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