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mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams Struct Reference

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
struct mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams

Struct for storing together the loop-closing related parameters.

Definition at line 482 of file CLoopCloserERD.h.

#include <mrpt/graphslam/ERD/CLoopCloserERD.h>

Inheritance diagram for mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams:
Inheritance graph

Public Member Functions

 TLoopClosureParams ()
 
 ~TLoopClosureParams ()
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
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...
 
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

bool LC_check_curr_partition_only
 flag indicating whether to check only the partition of the last registered node for potential loop closures More...
 
size_t LC_min_nodeid_diff
 nodeID difference for detecting potential loop closure in a partition. More...
 
double LC_eigenvalues_ratio_thresh
 Eigenvalues ratio for accepting/rejecting a hypothesis set. More...
 
int LC_min_remote_nodes
 how many remote nodes (large nodID difference should there be before I consider the potential loop closure. More...
 
int full_partition_per_nodes
 Full partition of map only afer X new nodes have been registered. More...
 
bool visualize_map_partitions
 
std::string keystroke_map_partitions
 
double offset_y_map_partitions
 
int text_index_map_partitions
 
const double balloon_elevation
 
const double balloon_radius
 
const mrpt::utils::TColor balloon_std_color
 
const mrpt::utils::TColor balloon_curr_color
 
const mrpt::utils::TColor connecting_lines_color
 
bool has_read_config
 

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

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::TLoopClosureParams ( )

Definition at line 2380 of file CLoopCloserERD_impl.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::~TLoopClosureParams ( )

Definition at line 2392 of file CLoopCloserERD_impl.h.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
void mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::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 2395 of file CLoopCloserERD_impl.h.

References MRPT_END, MRPT_START, 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
template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
void mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
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:

[section]
resolution = 0.10 // blah blah...
modeSelection = 1 // 0=blah, 1=blah,...
See Also
loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 2419 of file CLoopCloserERD_impl.h.

References MRPT_END, MRPT_START, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), and mrpt::utils::CConfigFileBase::read_int().

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

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const mrpt::utils::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_curr_color

Definition at line 526 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_elevation

Definition at line 523 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_radius

Definition at line 524 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const mrpt::utils::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_std_color

Definition at line 525 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
const mrpt::utils::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::connecting_lines_color

Definition at line 527 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::full_partition_per_nodes

Full partition of map only afer X new nodes have been registered.

Definition at line 515 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::has_read_config

Definition at line 529 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
std::string mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::keystroke_map_partitions

Definition at line 517 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_check_curr_partition_only

flag indicating whether to check only the partition of the last registered node for potential loop closures

Definition at line 495 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_eigenvalues_ratio_thresh

Eigenvalues ratio for accepting/rejecting a hypothesis set.

By default this is set to 2.

Definition at line 507 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
size_t mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_nodeid_diff

nodeID difference for detecting potential loop closure in a partition.

If this difference is surpassed then the partition should be investigated for loop closures using Olson's strategy.

Definition at line 502 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_remote_nodes

how many remote nodes (large nodID difference should there be before I consider the potential loop closure.

Definition at line 511 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::offset_y_map_partitions

Definition at line 519 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::text_index_map_partitions

Definition at line 520 of file CLoopCloserERD.h.

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::visualize_map_partitions

Definition at line 516 of file CLoopCloserERD.h.




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