With this struct options are provided to the observation insertion process.
Definition at line 73 of file COctoMapBase.h.
#include <mrpt/maps/COctoMapBase.h>
Public Member Functions | |
TInsertionOptions (myself_t &parent) | |
Initilization of default parameters. More... | |
TInsertionOptions () | |
Especial constructor, not attached to a real. More... | |
TInsertionOptions & | operator= (const TInsertionOptions &o) |
COctoMap object: used only in limited situations, since get*() methods don't work, etc. 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 | setOccupancyThres (double prob) |
insertion (default: true) More... | |
void | setProbHit (double prob) |
(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7) More... | |
void | setProbMiss (double prob) |
(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4) More... | |
void | setClampingThresMin (double thresProb) |
(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds) More... | |
void | setClampingThresMax (double thresProb) |
(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds) More... | |
double | getOccupancyThres () const |
float | getOccupancyThresLog () const |
double | getProbHit () const |
float | getProbHitLog () const |
double | getProbMiss () const |
float | getProbMissLog () const |
double | getClampingThresMin () const |
float | getClampingThresMinLog () const |
double | getClampingThresMax () const |
float | getClampingThresMaxLog () const |
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 | |
double | maxrange |
maximum range for how long individual beams are More... | |
bool | pruning |
inserted (default -1: complete beam) 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) |
Private Attributes | |
mrpt::ignored_copy_ptr< myself_t > | m_parent |
double | occupancyThres |
double | probHit |
double | probMiss |
double | clampingThresMin |
double | clampingThresMax |
mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::TInsertionOptions | ( | myself_t & | parent | ) |
Initilization of default parameters.
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions |
Especial constructor, not attached to a real.
Definition at line 289 of file COctoMapBase_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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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 336 of file COctoMapBase_impl.h.
References mrpt::format(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbMiss(), and LOADABLEOPTS_DUMP_VAR.
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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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Definition at line 70 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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Definition at line 194 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMax, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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Definition at line 203 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
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Definition at line 179 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMin, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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Definition at line 188 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
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Definition at line 144 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::occupancyThres.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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Definition at line 152 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
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Definition at line 158 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probHit.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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Definition at line 166 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
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Definition at line 168 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probMiss.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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Definition at line 176 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
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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 368 of file COctoMapBase_impl.h.
References iniFile(), MRPT_LOAD_CONFIG_VAR, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbMiss().
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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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COctoMap object: used only in limited situations, since get*() methods don't work, etc.
Definition at line 82 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMax, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMin, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::maxrange, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::occupancyThres, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probHit, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probMiss, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::pruning, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss().
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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().
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(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds)
Definition at line 138 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds)
Definition at line 131 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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insertion (default: true)
(key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5)
Definition at line 112 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7)
Definition at line 118 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4)
Definition at line 124 of file COctoMapBase.h.
References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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Definition at line 220 of file COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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Definition at line 217 of file COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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Definition at line 209 of file COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMaxLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMinLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThresLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHitLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMissLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss().
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::maxrange |
maximum range for how long individual beams are
Definition at line 105 of file COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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Definition at line 211 of file COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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Definition at line 213 of file COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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Definition at line 215 of file COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
bool mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::pruning |
inserted (default -1: complete beam)
whether the tree is (losslessly) pruned after
Definition at line 107 of file COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().
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