Definition at line 81 of file CWaypointsNavigator.h.
#include <mrpt/nav/reactive/CWaypointsNavigator.h>
Public Member Functions | |
virtual void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &c, const std::string &s) MRPT_OVERRIDE |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &c, const std::string &s) const MRPT_OVERRIDE |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
TWaypointsNavigatorParams () | |
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 | max_distance_to_allow_skip_waypoint |
In meters. <0: unlimited. More... | |
int | min_timesteps_confirm_skip_waypoints |
How many times shall a future waypoint be seen as reachable to skip to it (Default: 1) More... | |
double | waypoint_angle_tolerance |
[rad] Angular error tolerance for waypoints with an assigned heading (Default: 5 deg) More... | |
double | rel_speed_for_stop_waypoints |
[0,1] Relative speed when aiming at a stop-point waypoint (Default=0.10) More... | |
int | multitarget_look_ahead |
>=0 number of waypoints to forward to the underlying navigation engine, to ease obstacles avoidance when a waypoint is blocked (Default=0 : none). 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) |
CWaypointsNavigator::TWaypointsNavigatorParams::TWaypointsNavigatorParams | ( | ) |
Definition at line 439 of file CWaypointsNavigator.cpp.
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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 421 of file CWaypointsNavigator.cpp.
References MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREES.
Referenced by mrpt::nav::CWaypointsNavigator::loadConfigFile().
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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 430 of file CWaypointsNavigator.cpp.
References MRPT_SAVE_CONFIG_VAR_COMMENT, and MRPT_SAVE_CONFIG_VAR_DEGREES_COMMENT.
Referenced by mrpt::nav::CWaypointsNavigator::saveConfigFile().
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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().
double mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::max_distance_to_allow_skip_waypoint |
In meters. <0: unlimited.
Definition at line 83 of file CWaypointsNavigator.h.
Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
int mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::min_timesteps_confirm_skip_waypoints |
How many times shall a future waypoint be seen as reachable to skip to it (Default: 1)
Definition at line 84 of file CWaypointsNavigator.h.
Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
int mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::multitarget_look_ahead |
>=0 number of waypoints to forward to the underlying navigation engine, to ease obstacles avoidance when a waypoint is blocked (Default=0 : none).
Definition at line 87 of file CWaypointsNavigator.h.
Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
double mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::rel_speed_for_stop_waypoints |
[0,1] Relative speed when aiming at a stop-point waypoint (Default=0.10)
Definition at line 86 of file CWaypointsNavigator.h.
Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
double mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams::waypoint_angle_tolerance |
[rad] Angular error tolerance for waypoints with an assigned heading (Default: 5 deg)
Definition at line 85 of file CWaypointsNavigator.h.
Referenced by mrpt::nav::CWaypointsNavigator::waypoints_navigationStep().
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