Detailed Description

A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and "CMultiMetricMap::setListOfMaps" for effectively creating the list of desired maps.

See also: CMultiMetricMap::CMultiMetricMap, utils::CLoadableOptions

Definition at line 404 of file CMultiMetricMap.h.

#include <mrpt/slam/CMultiMetricMap.h>

Inheritance diagram for mrpt::slam::TSetOfMetricMapInitializers:

[legend]

Public Types
typedef std::deque< TMetricMapInitializer >::iterator	iterator

typedef std::deque< TMetricMapInitializer >::const_iterator	const_iterator

Public Member Functions
size_t	size () const

void	push_back (const TMetricMapInitializer &o)

iterator	begin ()

const_iterator	begin () const

iterator	end ()

const_iterator	end () const

void	clear ()

	TSetOfMetricMapInitializers ()

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &sectionName)
	Loads the configuration for the set of internal maps from a textual definition in an INI-like file. More...

void	dumpToTextStream (CStream &out) const
	This method dumps the options of the multi-metric map AND those of every internal map. 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::utils::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
CMultiMetricMap::TOptions	options
	This options will be loaded when creating the set of maps in CMultiMetricMap (See CMultiMetricMap::TOptions) More...

Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (CStream &out, const char *varName, float v)

static void	dumpVar_double (CStream &out, const char *varName, double v)

static void	dumpVar_bool (CStream &out, const char *varName, bool v)

static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

Protected Attributes
std::deque< TMetricMapInitializer >	m_list

Member Typedef Documentation

◆ const_iterator

typedef std::deque<TMetricMapInitializer>::const_iterator mrpt::slam::TSetOfMetricMapInitializers::const_iterator

Definition at line 414 of file CMultiMetricMap.h.

◆ iterator

typedef std::deque<TMetricMapInitializer>::iterator mrpt::slam::TSetOfMetricMapInitializers::iterator

Definition at line 413 of file CMultiMetricMap.h.

Constructor & Destructor Documentation

◆ TSetOfMetricMapInitializers()

mrpt::slam::TSetOfMetricMapInitializers::TSetOfMetricMapInitializers ( )

inline

Definition at line 425 of file CMultiMetricMap.h.

Member Function Documentation

◆ begin() [1/2]

iterator mrpt::slam::TSetOfMetricMapInitializers::begin ( )

inline

Definition at line 416 of file CMultiMetricMap.h.

◆ begin() [2/2]

const_iterator mrpt::slam::TSetOfMetricMapInitializers::begin ( ) const

inline

Definition at line 417 of file CMultiMetricMap.h.

◆ clear()

void mrpt::slam::TSetOfMetricMapInitializers::clear ( void )

inline

Definition at line 422 of file CMultiMetricMap.h.

◆ dumpToConsole()

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

◆ dumpToTextStream()

void mrpt::slam::TSetOfMetricMapInitializers::dumpToTextStream ( CStream & out ) const

virtual

This method dumps the options of the multi-metric map AND those of every internal map.

Reimplemented from mrpt::utils::CLoadableOptions.

◆ dumpVar_bool()

static void mrpt::utils::CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

◆ dumpVar_double()

static void mrpt::utils::CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

◆ dumpVar_float()

static void mrpt::utils::CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

◆ dumpVar_int()

static void mrpt::utils::CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

◆ dumpVar_string()

static void mrpt::utils::CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

◆ end() [1/2]

iterator mrpt::slam::TSetOfMetricMapInitializers::end ( )

inline

Definition at line 419 of file CMultiMetricMap.h.

◆ end() [2/2]

const_iterator mrpt::slam::TSetOfMetricMapInitializers::end ( ) const

inline

Definition at line 420 of file CMultiMetricMap.h.

◆ loadFromConfigFile()

void mrpt::slam::TSetOfMetricMapInitializers::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	sectionName
	)

virtual

Loads the configuration for the set of internal maps from a textual definition in an INI-like file.

The format of the ini file is defined in utils::CConfigFile. The list of maps and their options will be loaded from a handle of sections:

[<sectionName>]
 // Creation of maps:
 occupancyGrid_count=<Number of mrpt::slam::COccupancyGridMap2D maps>
 octoMap_count=<Number of mrpt::slam::COctoMap maps>
 colourOctoMap_count=<Number of mrpt::slam::CColourOctoMap maps>
 gasGrid_count=<Number of mrpt::slam::CGasConcentrationGridMap2D maps>
 wifiGrid_count=<Number of mrpt::slam::CWirelessPowerGridMap2D maps>
 landmarksMap_count=<0 or 1, for creating a mrpt::slam::CLandmarksMap map>
 beaconMap_count=<0 or 1, for creating a mrpt::slam::CBeaconMap map>
 pointsMap_count=<Number of mrpt::slam::CSimplePointsMap map>
 heightMap_count=<Number of mrpt::slam::CHeightGridMap2D maps>
 reflectivityMap_count=<Number of mrpt::slam::CReflectivityGridMap2D maps>
 colourPointsMap_count=<0 or 1, for creating a mrpt::slam::CColouredPointsMap map>
 weightedPointsMap_count=<0 or 1, for creating a mrpt::slam::CWeightedPointsMap map>
 // Selection of map for likelihood. Either a numeric value or the textual enum
 //   enum value of slam::CMultiMetricMap::TOptions::TMapSelectionForLikelihood (e.g: either "-1" or "fuseAll", ect...)
 likelihoodMapSelection = -1
 // Enables (1 or "true") / Disables (0 or "false") insertion into specific maps (Defaults are all "true"):
 enableInsertion_pointsMap=<0/1>
 enableInsertion_landmarksMap=<0/1>
 enableInsertion_gridMaps=<0/1>
 enableInsertion_gasGridMaps=<0/1>
 enableInsertion_wifiGridMaps=<0/1>
 enableInsertion_beaconMap=<0/1>
 enableInsertion_heightMap=<0/1>
 enableInsertion_reflectivityMap=<0/1>
 enableInsertion_colourPointsMap=<0/1>
 enableInsertion_weightedPointsMap=<0/1>
 enableInsertion_octoMaps=<0/1>
 enableInsertion_colourOctoMaps=<0/1>
// ====================================================
//  Creation Options for OccupancyGridMap ##:
[<sectionName>+"_occupancyGrid_##_creationOpts"]
 min_x=<value>
 max_x=<value>
 min_y=<value>
 max_y=<value>
 resolution=<value>
// Insertion Options for OccupancyGridMap ##:
[<sectionName>+"_occupancyGrid_##_insertOpts"]
 <See COccupancyGridMap2D::TInsertionOptions>
// Likelihood Options for OccupancyGridMap ##:
[<sectionName>+"_occupancyGrid_##_likelihoodOpts"]
 <See COccupancyGridMap2D::TLikelihoodOptions>
// ====================================================
//  Creation Options for OctoMap ##:
[<sectionName>+"_octoMap_##_creationOpts"]
 resolution=<value>
// Insertion Options for OctoMap ##:
[<sectionName>+"_octoMap_##_insertOpts"]
 <See COctoMap::TInsertionOptions>
// Likelihood Options for OctoMap ##:
[<sectionName>+"_octoMap_##_likelihoodOpts"]
 <See COctoMap::TLikelihoodOptions>
// ====================================================
//  Creation Options for ColourOctoMap ##:
[<sectionName>+"_colourOctoMap_##_creationOpts"]
 resolution=<value>
// Insertion Options for ColourOctoMap ##:
[<sectionName>+"_colourOctoMap_##_insertOpts"]
 <See CColourOctoMap::TInsertionOptions>
// Likelihood Options for ColourOctoMap ##:
[<sectionName>+"_colourOctoMap_##_likelihoodOpts"]
 <See CColourOctoMap::TLikelihoodOptions>
// ====================================================
// Insertion Options for CSimplePointsMap ##:
[<sectionName>+"_pointsMap_##_insertOpts"]
 <See CPointsMap::TInsertionOptions>
// Likelihood Options for CSimplePointsMap ##:
[<sectionName>+"_pointsMap_##_likelihoodOpts"]
 <See CPointsMap::TLikelihoodOptions>
// ====================================================
// Creation Options for CGasConcentrationGridMap2D ##:
[<sectionName>+"_gasGrid_##_creationOpts"]
 mapType= <0-1> ; See CGasConcentrationGridMap2D::CGasConcentrationGridMap2D
 min_x=<value>
 max_x=<value>
 min_y=<value>
 max_y=<value>
 resolution=<value>
// Insertion Options for CGasConcentrationGridMap2D ##:
[<sectionName>+"_gasGrid_##_insertOpts"]
 <See CGasConcentrationGridMap2D::TInsertionOptions>
// ====================================================
// Creation Options for CWirelessPowerGridMap2D ##:
[<sectionName>+"_wifiGrid_##_creationOpts"]
 mapType= <0-1> ; See CWirelessPowerGridMap2D::CWirelessPowerGridMap2D
 min_x=<value>
 max_x=<value>
 min_y=<value>
 max_y=<value>
 resolution=<value>
// Insertion Options for CWirelessPowerGridMap2D ##:
[<sectionName>+"_wifiGrid_##_insertOpts"]
 <See CWirelessPowerGridMap2D::TInsertionOptions>
// ====================================================
// Creation Options for CLandmarksMap ##:
[<sectionName>+"_landmarksMap_##_creationOpts"]
 nBeacons=<# of beacons>
 beacon_001_ID=67               ; The ID and 3D coordinates of each beacon
 beacon_001_X=<x>
 beacon_001_Y=<x>
 beacon_001_Z=<x>
// Insertion Options for CLandmarksMap ##:
[<sectionName>+"_landmarksMap_##_insertOpts"]
 <See CLandmarksMap::TInsertionOptions>
// Likelihood Options for CLandmarksMap ##:
[<sectionName>+"_landmarksMap_##_likelihoodOpts"]
 <See CLandmarksMap::TLikelihoodOptions>
// ====================================================
// Insertion Options for CBeaconMap ##:
[<sectionName>+"_beaconMap_##_insertOpts"]
 <See CBeaconMap::TInsertionOptions>
// Likelihood Options for CBeaconMap ##:
[<sectionName>+"_beaconMap_##_likelihoodOpts"]
 <See CBeaconMap::TLikelihoodOptions>
// ====================================================
// Creation Options for HeightGridMap ##:
[<sectionName>+"_heightGrid_##_creationOpts"]
 mapType= <0-1> // See CHeightGridMap2D::CHeightGridMap2D
 min_x=<value>
 max_x=<value>
 min_y=<value>
 max_y=<value>
 resolution=<value>
// Insertion Options for HeightGridMap ##:
[<sectionName>+"_heightGrid_##_insertOpts"]
 <See CHeightGridMap2D::TInsertionOptions>
// ====================================================
// Creation Options for ReflectivityGridMap ##:
[<sectionName>+"_reflectivityGrid_##_creationOpts"]
 min_x=<value>  // See CReflectivityGridMap2D::CReflectivityGridMap2D
 max_x=<value>
 min_y=<value>
 max_y=<value>
 resolution=<value>
// Insertion Options for HeightGridMap ##:
[<sectionName>+"_reflectivityGrid_##_insertOpts"]
 <See CReflectivityGridMap2D::TInsertionOptions>
// ====================================================
// Insertion Options for CColouredPointsMap ##:
[<sectionName>+"_colourPointsMap_##_insertOpts"]
 <See CPointsMap::TInsertionOptions>
// Color Options for CColouredPointsMap ##:
[<sectionName>+"_colourPointsMap_##_colorOpts"]
 <See CColouredPointsMap::TColourOptions>
// Likelihood Options for CSimplePointsMap ##:
[<sectionName>+"_colourPointsMap_##_likelihoodOpts"]
 <See CPointsMap::TLikelihoodOptions>
// ====================================================
// Insertion Options for CWeightedPointsMap ##:
[<sectionName>+"_weightedPointsMap_##_insertOpts"]
 <See CPointsMap::TInsertionOptions>
// Likelihood Options for CWeightedPointsMap ##:
[<sectionName>+"_weightedPointsMap_##_likelihoodOpts"]
 <See CPointsMap::TLikelihoodOptions>

Where:

##: Represents the index of the map (e.g. "00","01",...)
By default, the variables into each "TOptions" structure of the maps are defined in textual form by the same name of the corresponding C++ variable (e.g. "float resolution;" -> "resolution=0.10")

Note: Examples of map definitions can be found in the '.ini' files provided in the demo directories: "share/mrpt/config-files/"

Implements mrpt::utils::CLoadableOptions.

◆ loadFromConfigFileName()

void mrpt::utils::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

◆ push_back()

void mrpt::slam::TSetOfMetricMapInitializers::push_back ( const TMetricMapInitializer & o )

inline

Definition at line 411 of file CMultiMetricMap.h.

◆ saveToConfigFile()

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

inlinevirtualinherited

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

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters, mrpt::reactivenav::CHolonomicND::TOptions, and mrpt::reactivenav::CHolonomicVFF::TOptions.

Definition at line 68 of file CLoadableOptions.h.

References THROW_EXCEPTION.

◆ saveToConfigFileName()

void mrpt::utils::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

◆ size()

size_t mrpt::slam::TSetOfMetricMapInitializers::size ( ) const

inline

Definition at line 410 of file CMultiMetricMap.h.

Member Data Documentation

◆ m_list

std::deque<TMetricMapInitializer> mrpt::slam::TSetOfMetricMapInitializers::m_list

protected

Definition at line 407 of file CMultiMetricMap.h.

◆ options

CMultiMetricMap::TOptions mrpt::slam::TSetOfMetricMapInitializers::options

This options will be loaded when creating the set of maps in CMultiMetricMap (See CMultiMetricMap::TOptions)

Definition at line 431 of file CMultiMetricMap.h.

Detailed Description

Public Types

Public Member Functions

Public Attributes

Static Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ const_iterator

◆ iterator

Constructor & Destructor Documentation

◆ TSetOfMetricMapInitializers()

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ end() [1/2]

◆ end() [2/2]

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ push_back()

◆ saveToConfigFile()

◆ saveToConfigFileName()

◆ size()

Member Data Documentation

◆ m_list

◆ options