Parameters related with inserting observations into the map:
Definition at line 50 of file CGasConcentrationGridMap2D.h.
#include <mrpt/maps/CGasConcentrationGridMap2D.h>
Public Member Functions | |
TInsertionOptions () | |
Default values loader. More... | |
void | loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string §ion) 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 §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... | |
void | internal_loadFromConfigFile_common (const mrpt::config::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. More... | |
void | internal_dumpToTextStream_common (std::ostream &out) const |
See utils::CLoadableOptions. More... | |
Public Attributes | |
For all mapping methods | |
std::string | gasSensorLabel |
The label of the CObservationGasSensor used to generate the map. More... | |
uint16_t | enose_id |
id for the enose used to generate this map (must be < gasGrid_count) More... | |
uint16_t | gasSensorType |
The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...) More... | |
std::string | windSensorLabel |
The label of the WindSenor used to simulate advection. More... | |
bool | useWindInformation |
float | advectionFreq |
Indicates if wind information must be used. More... | |
float | std_windNoise_phi |
Frequency for simulating advection (only used. More... | |
float | std_windNoise_mod |
float | default_wind_direction |
The std to consider on. More... | |
float | default_wind_speed |
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) |
CGasConcentrationGridMap2D::TInsertionOptions::TInsertionOptions | ( | ) |
Default values loader.
Definition at line 444 of file CGasConcentrationGridMap2D.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 460 of file CGasConcentrationGridMap2D.cpp.
References mrpt::format().
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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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inherited |
Definition at line 717 of file CRandomFieldGridMap2D.cpp.
References mrpt::format().
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Definition at line 774 of file CRandomFieldGridMap2D.cpp.
References iniFile(), and MRPT_LOAD_CONFIG_VAR.
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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:
Implements mrpt::config::CLoadableOptions.
Definition at line 503 of file CGasConcentrationGridMap2D.cpp.
References iniFile().
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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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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::CGasConcentrationGridMap2D::TInsertionOptions::advectionFreq |
Indicates if wind information must be used.
to simulate Advection
Definition at line 78 of file CGasConcentrationGridMap2D.h.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid().
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The cutoff radius for updating cells.
Definition at line 260 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeTo(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().
float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::default_wind_direction |
The std to consider on.
wind information measurements
Definition at line 83 of file CGasConcentrationGridMap2D.h.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_clear().
float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::default_wind_speed |
Definition at line 84 of file CGasConcentrationGridMap2D.h.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_clear().
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[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D)
Definition at line 265 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), and mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV().
uint16_t mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::enose_id |
id for the enose used to generate this map (must be < gasGrid_count)
Definition at line 68 of file CGasConcentrationGridMap2D.h.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation().
std::string mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::gasSensorLabel |
The label of the CObservationGasSensor used to generate the map.
Definition at line 65 of file CGasConcentrationGridMap2D.h.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation().
uint16_t mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::gasSensorType |
The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...)
Definition at line 71 of file CGasConcentrationGridMap2D.h.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation().
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Pixel coordinates of the origin for the occupancy_gridmap.
Definition at line 305 of file CRandomFieldGridMap2D.h.
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Pixel coordinates of the origin for the occupancy_gridmap.
Definition at line 307 of file CRandomFieldGridMap2D.h.
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image name of the occupancy_gridmap
Definition at line 301 of file CRandomFieldGridMap2D.h.
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occupancy_gridmap resolution: size of each pixel (m)
Definition at line 303 of file CRandomFieldGridMap2D.h.
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The initial information (Lambda) of each observation (this information will decrease with time)
Definition at line 291 of file CRandomFieldGridMap2D.h.
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The loss of information of the observations with each iteration.
Definition at line 293 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().
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The information (Lambda) of fixed map constraints.
Definition at line 288 of file CRandomFieldGridMap2D.h.
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(Default:-inf,+inf) Saturate the estimated mean in these limits
Definition at line 310 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().
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simplemap_file name of the occupancy_gridmap
Definition at line 299 of file CRandomFieldGridMap2D.h.
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(Default:false) Skip the computation of the variance, just compute the mean
Definition at line 313 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().
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whether to use information of an occupancy_gridmap map for building the GMRF
Definition at line 297 of file CRandomFieldGridMap2D.h.
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The "sigma" for the initial covariance value between cells (in meters).
Definition at line 272 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), and mrpt::maps::CWirelessPowerGridMap2D::serializeTo().
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The default value for the mean of cells' concentration.
Definition at line 280 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), and mrpt::maps::CWirelessPowerGridMap2D::serializeTo().
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The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).
Definition at line 276 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeTo(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().
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The sensor model noise (in normalized concentration units).
Definition at line 278 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), and mrpt::maps::CWirelessPowerGridMap2D::serializeTo().
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[mrKalmanApproximate] The size of the window of neighbor cells.
Definition at line 282 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), and mrpt::maps::CWirelessPowerGridMap2D::serializeTo().
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Definition at line 262 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), and mrpt::maps::CWirelessPowerGridMap2D::serializeTo().
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Limits for normalization of sensor readings.
Definition at line 262 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CWirelessPowerGridMap2D::internal_insertObservation(), mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), and mrpt::maps::CWirelessPowerGridMap2D::serializeTo().
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The sigma of the "Parzen"-kernel Gaussian.
Definition at line 258 of file CRandomFieldGridMap2D.h.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeFrom(), mrpt::maps::CWirelessPowerGridMap2D::serializeTo(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().
float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::std_windNoise_mod |
Definition at line 80 of file CGasConcentrationGridMap2D.h.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid().
float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::std_windNoise_phi |
Frequency for simulating advection (only used.
to transform wind speed to distance)
Definition at line 80 of file CGasConcentrationGridMap2D.h.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid().
bool mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::useWindInformation |
Definition at line 76 of file CGasConcentrationGridMap2D.h.
Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_clear(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().
std::string mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::windSensorLabel |
The label of the WindSenor used to simulate advection.
Definition at line 73 of file CGasConcentrationGridMap2D.h.
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