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mrpt::maps::COccupancyGridMap2D::TInsertionOptions Class Reference

Detailed Description

With this struct options are provided to the observation insertion process.

See Also
CObservation::insertIntoGridMap

Definition at line 343 of file maps/COccupancyGridMap2D.h.

#include <mrpt/maps/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap2D::TInsertionOptions:
Inheritance graph

Public Member Functions

 TInsertionOptions ()
 Initilization of default parameters. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
 This method load the options from a ".ini" file. 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 &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

float mapAltitude
 The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map! More...
 
bool useMapAltitude
 The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true. More...
 
float maxDistanceInsertion
 The largest distance at which cells will be updated (Default 15 meters) More...
 
float maxOccupancyUpdateCertainty
 A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8) More...
 
float maxFreenessUpdateCertainty
 A value in the range [0.5,1] for updating a free cell. (default=0 means use the same than maxOccupancyUpdateCertainty) More...
 
float maxFreenessInvalidRanges
 Like maxFreenessUpdateCertainty, but for invalid ranges (no echo). (default=0 means same than maxOccupancyUpdateCertainty) More...
 
bool considerInvalidRangesAsFreeSpace
 If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray. More...
 
uint16_t decimation
 Specify the decimation of the range scan (default=1 : take all the range values!) More...
 
float horizontalTolerance
 The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0). More...
 
float CFD_features_gaussian_size
 Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled) More...
 
float CFD_features_median_size
 Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled) More...
 
bool wideningBeamsWithDistance
 Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false) 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)
 

Constructor & Destructor Documentation

COccupancyGridMap2D::TInsertionOptions::TInsertionOptions ( )

Initilization of default parameters.

Definition at line 1141 of file COccupancyGridMap2D_insert.cpp.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void COccupancyGridMap2D::TInsertionOptions::dumpToTextStream ( mrpt::utils::CStream out) const
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 1184 of file COccupancyGridMap2D_insert.cpp.

References LOADABLEOPTS_DUMP_VAR, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
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().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
void COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual

This method load the options from a ".ini" file.

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,...

Implements mrpt::utils::CLoadableOptions.

Definition at line 1162 of file COccupancyGridMap2D_insert.cpp.

References MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREES.

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 23 of file CLoadableOptions.cpp.

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

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtualinherited
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 39 of file CLoadableOptions.cpp.

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

Member Data Documentation

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_gaussian_size

Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled)

Definition at line 373 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_median_size

Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled)

Definition at line 374 of file maps/COccupancyGridMap2D.h.

bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::considerInvalidRangesAsFreeSpace

If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray.

Definition at line 370 of file maps/COccupancyGridMap2D.h.

uint16_t mrpt::maps::COccupancyGridMap2D::TInsertionOptions::decimation

Specify the decimation of the range scan (default=1 : take all the range values!)

Definition at line 371 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::horizontalTolerance

The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0).

Definition at line 372 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood().

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::mapAltitude

The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map!

Definition at line 364 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood().

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxDistanceInsertion

The largest distance at which cells will be updated (Default 15 meters)

Definition at line 366 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxFreenessInvalidRanges

Like maxFreenessUpdateCertainty, but for invalid ranges (no echo). (default=0 means same than maxOccupancyUpdateCertainty)

Definition at line 369 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxFreenessUpdateCertainty

A value in the range [0.5,1] for updating a free cell. (default=0 means use the same than maxOccupancyUpdateCertainty)

Definition at line 368 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxOccupancyUpdateCertainty

A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8)

Definition at line 367 of file maps/COccupancyGridMap2D.h.

bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::useMapAltitude

The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true.

Definition at line 365 of file maps/COccupancyGridMap2D.h.

Referenced by mrpt::maps::COccupancyGridMap2D::internal_canComputeObservationLikelihood().

bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::wideningBeamsWithDistance

Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false)

Definition at line 375 of file maps/COccupancyGridMap2D.h.




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