Struct for storing together the loop-closing related parameters.
Definition at line 466 of file CLoopCloserERD.h.
#include <mrpt/graphslam/ERD/CLoopCloserERD.h>
Public Member Functions | |
TLoopClosureParams () | |
~TLoopClosureParams () | |
void | loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string §ion) |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
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... | |
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 | |
bool | LC_check_curr_partition_only |
flag indicating whether to check only the partition of the last registered node for potential loop closures More... | |
size_t | LC_min_nodeid_diff |
nodeID difference for detecting potential loop closure in a partition. More... | |
double | LC_eigenvalues_ratio_thresh |
Eigenvalues ratio for accepting/rejecting a hypothesis set. More... | |
int | LC_min_remote_nodes |
how many remote nodes (large nodID difference should there be before I consider the potential loop closure. More... | |
int | full_partition_per_nodes |
Full partition of map only afer X new nodes have been registered. More... | |
bool | visualize_map_partitions |
std::string | keystroke_map_partitions |
double | offset_y_map_partitions |
int | text_index_map_partitions |
const double | balloon_elevation |
const double | balloon_radius |
const mrpt::img::TColor | balloon_std_color |
const mrpt::img::TColor | balloon_curr_color |
const mrpt::img::TColor | connecting_lines_color |
bool | has_read_config |
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) |
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::TLoopClosureParams |
Definition at line 2607 of file CLoopCloserERD_impl.h.
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::~TLoopClosureParams |
Definition at line 2619 of file CLoopCloserERD_impl.h.
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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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virtual |
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 2624 of file CLoopCloserERD_impl.h.
References mrpt::format(), MRPT_END, and MRPT_START.
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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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virtual |
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:
Implements mrpt::config::CLoadableOptions.
Definition at line 2649 of file CLoopCloserERD_impl.h.
References MRPT_END, and MRPT_START.
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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().
const mrpt::img::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_curr_color |
Definition at line 511 of file CLoopCloserERD.h.
const double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_elevation |
Definition at line 508 of file CLoopCloserERD.h.
const double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_radius |
Definition at line 509 of file CLoopCloserERD.h.
const mrpt::img::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_std_color |
Definition at line 510 of file CLoopCloserERD.h.
const mrpt::img::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::connecting_lines_color |
Definition at line 512 of file CLoopCloserERD.h.
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::full_partition_per_nodes |
Full partition of map only afer X new nodes have been registered.
Definition at line 500 of file CLoopCloserERD.h.
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::has_read_config |
Definition at line 514 of file CLoopCloserERD.h.
std::string mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::keystroke_map_partitions |
Definition at line 502 of file CLoopCloserERD.h.
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_check_curr_partition_only |
flag indicating whether to check only the partition of the last registered node for potential loop closures
Definition at line 480 of file CLoopCloserERD.h.
double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_eigenvalues_ratio_thresh |
Eigenvalues ratio for accepting/rejecting a hypothesis set.
By default this is set to 2.
Definition at line 492 of file CLoopCloserERD.h.
size_t mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_nodeid_diff |
nodeID difference for detecting potential loop closure in a partition.
If this difference is surpassed then the partition should be investigated for loop closures using Olson's strategy.
Definition at line 487 of file CLoopCloserERD.h.
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_remote_nodes |
how many remote nodes (large nodID difference should there be before I consider the potential loop closure.
Definition at line 496 of file CLoopCloserERD.h.
double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::offset_y_map_partitions |
Definition at line 504 of file CLoopCloserERD.h.
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::text_index_map_partitions |
Definition at line 505 of file CLoopCloserERD.h.
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::visualize_map_partitions |
Definition at line 501 of file CLoopCloserERD.h.
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