struct mrpt::graphslam::deciders::CICPCriteriaNRD::TParams

Overview

#include <mrpt/graphslam/NRD/CICPCriteriaNRD.h>

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

    decider_t& decider;
    double registration_max_distance;
    double registration_max_angle;

    // construction

    TParams(decider_t& d);

    // 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;

Fields

decider_t& decider

Reference to outer decider class.

double registration_max_distance

Maximum distance for new node registration.

double registration_max_angle

Maximum angle difference for new node registration.

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,...

See also:

loadFromConfigFileName, saveToConfigFile

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.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.