With this struct options are provided to the observation insertion process.
Definition at line 488 of file COccupancyGridMap2D.h.
#include <mrpt/maps/COccupancyGridMap2D.h>
Public Member Functions | |
TInsertionOptions () | |
Initilization of default parameters. More... | |
void | loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string §ion) override |
This method load the options from a ".ini" file. 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 §ion) |
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 §ion) 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 §ion) 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 | |
float | mapAltitude |
The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map! More... | |
bool | useMapAltitude |
The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true. More... | |
float | maxDistanceInsertion |
The largest distance at which cells will be updated (Default 15 meters) More... | |
float | maxOccupancyUpdateCertainty |
A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8) More... | |
float | maxFreenessUpdateCertainty |
A value in the range [0.5,1] for updating a free cell. More... | |
float | maxFreenessInvalidRanges |
Like maxFreenessUpdateCertainty, but for invalid ranges (no echo). More... | |
bool | considerInvalidRangesAsFreeSpace |
If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray. More... | |
uint16_t | decimation |
Specify the decimation of the range scan (default=1 : take all the range values!) More... | |
float | horizontalTolerance |
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0). More... | |
float | CFD_features_gaussian_size |
Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled) More... | |
float | CFD_features_median_size |
Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled) More... | |
bool | wideningBeamsWithDistance |
Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (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) |
COccupancyGridMap2D::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
Definition at line 1316 of file COccupancyGridMap2D_insert.cpp.
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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().
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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 1359 of file COccupancyGridMap2D_insert.cpp.
References mrpt::format(), and LOADABLEOPTS_DUMP_VAR.
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staticprotectedinherited |
Definition at line 63 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Definition at line 57 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Definition at line 51 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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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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staticprotectedinherited |
Definition at line 70 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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overridevirtual |
This method load the options from a ".ini" file.
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:
Implements mrpt::config::CLoadableOptions.
Definition at line 1337 of file COccupancyGridMap2D_insert.cpp.
References iniFile(), MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREES.
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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.
Definition at line 22 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::loadFromConfigFile().
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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::maps::TSetOfMetricMapInitializers, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::maps::TMapGenericParams, mrpt::maps::TMetricMapInitializer, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, and mrpt::slam::CICP::TConfigParams.
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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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.
Definition at line 37 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::saveToConfigFile().
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_gaussian_size |
Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled)
Definition at line 543 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_median_size |
Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled)
Definition at line 546 of file COccupancyGridMap2D.h.
bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::considerInvalidRangesAsFreeSpace |
If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray.
Definition at line 533 of file COccupancyGridMap2D.h.
uint16_t mrpt::maps::COccupancyGridMap2D::TInsertionOptions::decimation |
Specify the decimation of the range scan (default=1 : take all the range values!)
Definition at line 536 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::horizontalTolerance |
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0).
Definition at line 540 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood().
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::mapAltitude |
The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map!
Definition at line 514 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood().
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxDistanceInsertion |
The largest distance at which cells will be updated (Default 15 meters)
Definition at line 520 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxFreenessInvalidRanges |
Like maxFreenessUpdateCertainty, but for invalid ranges (no echo).
(default=0 means same than maxOccupancyUpdateCertainty)
Definition at line 529 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxFreenessUpdateCertainty |
A value in the range [0.5,1] for updating a free cell.
(default=0 means use the same than maxOccupancyUpdateCertainty)
Definition at line 526 of file COccupancyGridMap2D.h.
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxOccupancyUpdateCertainty |
A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8)
Definition at line 523 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::computeObservationLikelihood_CellsDifference().
bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::useMapAltitude |
The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true.
Definition at line 517 of file COccupancyGridMap2D.h.
Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood().
bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::wideningBeamsWithDistance |
Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false)
Definition at line 549 of file COccupancyGridMap2D.h.
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