A variety of options and configuration params (private, use loadOptions).
Definition at line 395 of file CHMTSLAM.h.
#include <mrpt/hmtslam/CHMTSLAM.h>
Public Member Functions | |
TOptions () | |
Initialization of default params. More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream. 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::utils::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 | |
std::string | LOG_OUTPUT_DIR |
[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there. More... | |
int | LOG_FREQUENCY |
[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated. More... | |
TLSlamMethod | SLAM_METHOD |
[LSLAM] The method to use for local SLAM More... | |
float | SLAM_MIN_DIST_BETWEEN_OBS |
[LSLAM] Minimum distance (and heading) difference between observations inserted in the map. More... | |
float | SLAM_MIN_HEADING_BETWEEN_OBS |
float | MIN_ODOMETRY_STD_XY |
[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0) More... | |
float | MIN_ODOMETRY_STD_PHI |
[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0) More... | |
float | VIEW3D_AREA_SPHERES_HEIGHT |
[VIEW3D] The height of the areas' spheres. More... | |
float | VIEW3D_AREA_SPHERES_RADIUS |
[VIEW3D] The radius of the areas' spheres. More... | |
mrpt::math::CVectorFloat | stds_Q_no_odo |
A 3-length vector with the std. More... | |
mrpt::slam::CIncrementalMapPartitioner::TOptions | AA_options |
[AA] The options for the partitioning algorithm More... | |
mrpt::maps::TSetOfMetricMapInitializers | defaultMapsInitializers |
The default set of maps to be created in each particle. More... | |
bayes::CParticleFilter::TParticleFilterOptions | pf_options |
These params are used from every LMH object. More... | |
mrpt::slam::TKLDParams | KLD_params |
int | random_seed |
0 means randomize, use any other value to have repetitive experiments. More... | |
vector_string | TLC_detectors |
A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching. More... | |
CTopLCDetector_GridMatching::TOptions | TLC_grid_options |
Options passed to this TLC constructor. More... | |
CTopLCDetector_FabMap::TOptions | TLC_fabmap_options |
Options passed to this TLC constructor. 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) |
CHMTSLAM::TOptions::TOptions | ( | ) |
Initialization of default params.
Definition at line 270 of file CHMTSLAM_main.cpp.
References DEG2RAD, LOG_FREQUENCY, LOG_OUTPUT_DIR, mrpt::hmtslam::CHMTSLAM::lsmRBPF_2DLASER, MIN_ODOMETRY_STD_PHI, MIN_ODOMETRY_STD_XY, random_seed, SLAM_METHOD, SLAM_MIN_DIST_BETWEEN_OBS, SLAM_MIN_HEADING_BETWEEN_OBS, stds_Q_no_odo, TLC_detectors, VIEW3D_AREA_SPHERES_HEIGHT, and VIEW3D_AREA_SPHERES_RADIUS.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Definition at line 47 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CHMTSLAM::loadOptions(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().
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virtual |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented from mrpt::utils::CLoadableOptions.
Definition at line 338 of file CHMTSLAM_main.cpp.
References LOADABLEOPTS_DUMP_VAR, LOADABLEOPTS_DUMP_VAR_DEG, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 67 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 62 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 57 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
Definition at line 52 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 72 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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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::utils::CLoadableOptions.
Definition at line 299 of file CHMTSLAM_main.cpp.
References ASSERT_, DEG2RAD, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT, MRPT_LOAD_CONFIG_VAR_DEGREES, RAD2DEG, and mrpt::system::tokenize().
Referenced by mrpt::hmtslam::CHMTSLAM::loadOptions().
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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 23 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::loadFromConfigFile().
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().
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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.
Definition at line 31 of file CLoadableOptions.cpp.
References MRPT_UNUSED_PARAM.
Referenced by mrpt::utils::CLoadableOptions::dumpToTextStream(), and mrpt::utils::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 39 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::saveToConfigFile().
mrpt::slam::CIncrementalMapPartitioner::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::AA_options |
[AA] The options for the partitioning algorithm
Definition at line 436 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CHMTSLAM::loadOptions().
mrpt::maps::TSetOfMetricMapInitializers mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers |
The default set of maps to be created in each particle.
Definition at line 438 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), and mrpt::hmtslam::CHMTSLAM::loadOptions().
mrpt::slam::TKLDParams mrpt::hmtslam::CHMTSLAM::TOptions::KLD_params |
Definition at line 440 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CHMTSLAM::loadOptions().
int mrpt::hmtslam::CHMTSLAM::TOptions::LOG_FREQUENCY |
[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.
Definition at line 406 of file CHMTSLAM.h.
Referenced by TOptions().
std::string mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR |
[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there.
Definition at line 405 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), TOptions(), and mrpt::hmtslam::CHMTSLAM::~CHMTSLAM().
float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_PHI |
[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)
Definition at line 420 of file CHMTSLAM.h.
Referenced by TOptions().
float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_XY |
[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)
Definition at line 417 of file CHMTSLAM.h.
Referenced by TOptions().
bayes::CParticleFilter::TParticleFilterOptions mrpt::hmtslam::CHMTSLAM::TOptions::pf_options |
These params are used from every LMH object.
Definition at line 439 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CHMTSLAM::loadOptions().
int mrpt::hmtslam::CHMTSLAM::TOptions::random_seed |
0 means randomize, use any other value to have repetitive experiments.
Definition at line 442 of file CHMTSLAM.h.
Referenced by TOptions().
TLSlamMethod mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_METHOD |
[LSLAM] The method to use for local SLAM
Definition at line 410 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), and TOptions().
float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_DIST_BETWEEN_OBS |
[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.
Definition at line 414 of file CHMTSLAM.h.
Referenced by TOptions().
float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_HEADING_BETWEEN_OBS |
Definition at line 414 of file CHMTSLAM.h.
Referenced by TOptions().
mrpt::math::CVectorFloat mrpt::hmtslam::CHMTSLAM::TOptions::stds_Q_no_odo |
A 3-length vector with the std.
deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)
Definition at line 432 of file CHMTSLAM.h.
Referenced by TOptions().
vector_string mrpt::hmtslam::CHMTSLAM::TOptions::TLC_detectors |
A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching.
'fabmap': Mark Cummins' image matching framework.
Definition at line 448 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), and TOptions().
CTopLCDetector_FabMap::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options |
Options passed to this TLC constructor.
Definition at line 451 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CTopLCDetector_FabMap::CTopLCDetector_FabMap(), and mrpt::hmtslam::CHMTSLAM::loadOptions().
CTopLCDetector_GridMatching::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_grid_options |
Options passed to this TLC constructor.
Definition at line 450 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::hmtslam::CHMTSLAM::loadOptions().
float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_HEIGHT |
[VIEW3D] The height of the areas' spheres.
Definition at line 424 of file CHMTSLAM.h.
Referenced by TOptions().
float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_RADIUS |
[VIEW3D] The radius of the areas' spheres.
Definition at line 428 of file CHMTSLAM.h.
Referenced by TOptions().
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