Algorithm options.
Definition at line 88 of file CHolonomicND.h.
#include <mrpt/nav/holonomic/CHolonomicND.h>
Public Member Functions | |
TOptions () | |
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 | saveToConfigFile (mrpt::utils::CConfigFileBase &cfg, const std::string §ion) const MRPT_OVERRIDE |
This method saves the options to a ".ini"-like file or memory-stored string list. 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... | |
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... | |
virtual void | dumpToTextStream (mrpt::utils::CStream &out) const |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More... | |
Public Attributes | |
double | TOO_CLOSE_OBSTACLE |
double | WIDE_GAP_SIZE_PERCENT |
double | RISK_EVALUATION_SECTORS_PERCENT |
double | RISK_EVALUATION_DISTANCE |
double | MAX_SECTOR_DIST_FOR_D2_PERCENT |
double | TARGET_SLOW_APPROACHING_DISTANCE |
std::vector< double > | factorWeights |
Vector of 4 weights: [0]=Free space, [1]=Dist. in sectors, [2]=Closer to target (Euclidean), [3]=Hysteresis. 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) |
CHolonomicND::TOptions::TOptions | ( | ) |
Definition at line 654 of file CHolonomicND.cpp.
References factorWeights.
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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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virtualinherited |
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 in mrpt::vision::TMultiResDescOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMultiResDescMatchOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMatchingOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::vision::TStereoSystemParams, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::graphslam::TSlidingWindow, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::bayes::TKF_options, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::TMapGenericParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CMetricMapBuilderICP::TConfigParams, mrpt::maps::TMetricMapInitializer, mrpt::vision::CCamModel, and mrpt::slam::TKLDParams.
Definition at line 80 of file CLoadableOptions.cpp.
References mrpt::utils::CConfigFileMemory::getContent(), mrpt::utils::CStream::printf(), and mrpt::utils::CLoadableOptions::saveToConfigFile().
Referenced by mrpt::utils::CLoadableOptions::dumpToConsole().
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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 670 of file CHolonomicND.cpp.
References ASSERT_, MRPT_END, MRPT_LOAD_CONFIG_VAR, and MRPT_START.
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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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virtual |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented from mrpt::utils::CLoadableOptions.
Definition at line 688 of file CHolonomicND.cpp.
References ASSERT_EQUAL_, mrpt::mrpt::format(), MRPT_END, MRPT_SAVE_CONFIG_VAR_COMMENT, mrpt::utils::MRPT_SAVE_NAME_PADDING, mrpt::utils::MRPT_SAVE_VALUE_PADDING, and MRPT_START.
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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().
std::vector<double> mrpt::nav::CHolonomicND::TOptions::factorWeights |
Vector of 4 weights: [0]=Free space, [1]=Dist. in sectors, [2]=Closer to target (Euclidean), [3]=Hysteresis.
Definition at line 93 of file CHolonomicND.h.
Referenced by mrpt::nav::CHolonomicND::readFromStream(), TOptions(), and mrpt::nav::CHolonomicND::writeToStream().
double mrpt::nav::CHolonomicND::TOptions::MAX_SECTOR_DIST_FOR_D2_PERCENT |
Definition at line 91 of file CHolonomicND.h.
Referenced by mrpt::nav::CHolonomicND::readFromStream(), and mrpt::nav::CHolonomicND::writeToStream().
double mrpt::nav::CHolonomicND::TOptions::RISK_EVALUATION_DISTANCE |
Definition at line 91 of file CHolonomicND.h.
Referenced by mrpt::nav::CHolonomicND::readFromStream(), and mrpt::nav::CHolonomicND::writeToStream().
double mrpt::nav::CHolonomicND::TOptions::RISK_EVALUATION_SECTORS_PERCENT |
Definition at line 90 of file CHolonomicND.h.
Referenced by mrpt::nav::CHolonomicND::readFromStream(), and mrpt::nav::CHolonomicND::writeToStream().
double mrpt::nav::CHolonomicND::TOptions::TARGET_SLOW_APPROACHING_DISTANCE |
Definition at line 92 of file CHolonomicND.h.
Referenced by mrpt::nav::CHolonomicND::getTargetApproachSlowDownDistance(), mrpt::nav::CHolonomicND::readFromStream(), mrpt::nav::CHolonomicND::setTargetApproachSlowDownDistance(), and mrpt::nav::CHolonomicND::writeToStream().
double mrpt::nav::CHolonomicND::TOptions::TOO_CLOSE_OBSTACLE |
Definition at line 90 of file CHolonomicND.h.
Referenced by mrpt::nav::CHolonomicND::readFromStream(), and mrpt::nav::CHolonomicND::writeToStream().
double mrpt::nav::CHolonomicND::TOptions::WIDE_GAP_SIZE_PERCENT |
Definition at line 90 of file CHolonomicND.h.
Referenced by mrpt::nav::CHolonomicND::readFromStream(), and mrpt::nav::CHolonomicND::writeToStream().
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