struct mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions

Options for building a CMetricMapBuilderRBPF object, passed to the constructor.

#include <mrpt/slam/CMetricMapBuilderRBPF.h>

struct TConstructionOptions: public mrpt::config::CLoadableOptions
{
    //
fields

    float insertionLinDistance {1.0f};
    float insertionAngDistance;
    float localizeLinDistance {0.4f};
    float localizeAngDistance;
    bayes::CParticleFilter::TParticleFilterOptions PF_options;
    mrpt::maps::TSetOfMetricMapInitializers mapsInitializers;
    mrpt::maps::CMultiMetricMapPDF::TPredictionParams predictionOptions;
    mrpt::system::VerbosityLevel verbosity_level {mrpt::system::LVL_INFO};

    // construction

    TConstructionOptions();

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) const;
};

Inherited Members

public:
    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Construction

TConstructionOptions()

Constructor.

Methods

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

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,...