Detailed Description

The options for the algorithm.

Definition at line 168 of file CRangeBearingKFSLAM.h.

#include <mrpt/slam/CRangeBearingKFSLAM.h>

Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM::TOptions:

Public Member Functions
	TOptions ()
	Default values. More...

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) 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 &section)
	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 &section) 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 &section) 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
mrpt::math::CVectorFloat	stds_Q_no_odo
	A 7-length vector with the std. More...

float	std_sensor_range
	The std. More...

float	std_sensor_yaw

float	std_sensor_pitch

float	std_odo_z_additional
	Additional std. More...

bool	doPartitioningExperiment
	If set to true (default=false), map will be partitioned using the method stated by partitioningMethod. More...

float	quantiles_3D_representation
	Default = 3. More...

int	partitioningMethod
	Applicable only if "doPartitioningExperiment=true". More...

TDataAssociationMethod	data_assoc_method

TDataAssociationMetric	data_assoc_metric

double	data_assoc_IC_chi2_thres
	Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99) More...

TDataAssociationMetric	data_assoc_IC_metric
	Whether to use mahalanobis (->chi2 criterion) vs. More...

double	data_assoc_IC_ml_threshold
	Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) More...

bool	create_simplemap
	Whether to fill m_SFs (default=false) More...

bool	force_ignore_odometry
	Whether to ignore the input odometry and behave as if there was no odometry at all (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)

Constructor & Destructor Documentation

◆ TOptions()

CRangeBearingKFSLAM::TOptions::TOptions ( )

Default values.

Definition at line 792 of file CRangeBearingKFSLAM.cpp.

References stds_Q_no_odo.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

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().

◆ dumpToTextStream()

void CRangeBearingKFSLAM::TOptions::dumpToTextStream ( std::ostream & out ) const

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 817 of file CRangeBearingKFSLAM.cpp.

References mrpt::format().

◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	std::ostream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	std::ostream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	std::ostream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	std::ostream &	out,
		const char *	varName,
		int	v
	)

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.

◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	std::ostream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ loadFromConfigFile()

void CRangeBearingKFSLAM::TOptions::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

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:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...

See also: loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 752 of file CRangeBearingKFSLAM.cpp.

References ASSERT_, create_simplemap, data_assoc_IC_chi2_thres, data_assoc_IC_metric, data_assoc_IC_ml_threshold, data_assoc_method, data_assoc_metric, mrpt::DEG2RAD(), doPartitioningExperiment, force_ignore_odometry, MRPT_LOAD_CONFIG_VAR, partitioningMethod, quantiles_3D_representation, mrpt::RAD2DEG(), std_odo_z_additional, std_sensor_pitch, std_sensor_range, std_sensor_yaw, and stds_Q_no_odo.

Referenced by mrpt::slam::CRangeBearingKFSLAM::loadOptions().

◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

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.

See also: loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile	(	mrpt::config::CConfigFileBase &	target,
		const std::string &	section
	)		const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

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().

◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

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.

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

Member Data Documentation

◆ create_simplemap

bool mrpt::slam::CRangeBearingKFSLAM::TOptions::create_simplemap

Whether to fill m_SFs (default=false)

Definition at line 221 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().

◆ data_assoc_IC_chi2_thres

double mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_chi2_thres

Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)

Definition at line 212 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().

◆ data_assoc_IC_metric

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_metric

Whether to use mahalanobis (->chi2 criterion) vs.

Matching likelihood.

Definition at line 215 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().

◆ data_assoc_IC_ml_threshold

double mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_ml_threshold

Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)

Definition at line 218 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().

◆ data_assoc_method

TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_method

Definition at line 208 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().

◆ data_assoc_metric

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_metric

Definition at line 209 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().

◆ doPartitioningExperiment

bool mrpt::slam::CRangeBearingKFSLAM::TOptions::doPartitioningExperiment

If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.

Definition at line 196 of file CRangeBearingKFSLAM.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), mrpt::slam::CRangeBearingKFSLAM::getLastPartitionLandmarks(), loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().

◆ force_ignore_odometry

bool mrpt::slam::CRangeBearingKFSLAM::TOptions::force_ignore_odometry

Whether to ignore the input odometry and behave as if there was no odometry at all (default: false)

Definition at line 225 of file CRangeBearingKFSLAM.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM::getIncrementFromOdometry(), loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise().

◆ partitioningMethod

int mrpt::slam::CRangeBearingKFSLAM::TOptions::partitioningMethod

Applicable only if "doPartitioningExperiment=true".

0: Automatically detect partition through graph-cut. N>=1: Cut every "N" observations.

Definition at line 205 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().

◆ quantiles_3D_representation

float mrpt::slam::CRangeBearingKFSLAM::TOptions::quantiles_3D_representation

Default = 3.

Definition at line 199 of file CRangeBearingKFSLAM.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), and loadFromConfigFile().

◆ std_odo_z_additional

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_odo_z_additional

Additional std.

dev. to sum to the motion model in the z axis (useful when there is only 2D odometry and we want to put things hard to the algorithm) (default=0)

Definition at line 192 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise().

◆ std_sensor_pitch

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_pitch

Definition at line 187 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM::OnPreComputingPredictions().

◆ std_sensor_range

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_range

The std.

deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.

Definition at line 187 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM::OnPreComputingPredictions().

◆ std_sensor_yaw

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_yaw

Definition at line 187 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM::OnPreComputingPredictions().

◆ stds_Q_no_odo

mrpt::math::CVectorFloat mrpt::slam::CRangeBearingKFSLAM::TOptions::stds_Q_no_odo

A 7-length vector with the std.

deviation of the transition model in (x,y,z, qr,qx,qy,qz) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y z: In meters.

Definition at line 183 of file CRangeBearingKFSLAM.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), and TOptions().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ create_simplemap

◆ data_assoc_IC_chi2_thres

◆ data_assoc_IC_metric

◆ data_assoc_IC_ml_threshold

◆ data_assoc_method

◆ data_assoc_metric

◆ doPartitioningExperiment

◆ force_ignore_odometry

◆ partitioningMethod

◆ quantiles_3D_representation

◆ std_odo_z_additional

◆ std_sensor_pitch

◆ std_sensor_range

◆ std_sensor_yaw

◆ stds_Q_no_odo