mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams Struct Reference

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
struct mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams

Struct for holding the optimization-related variables in a compact form.

Definition at line 161 of file CLevMarqGSO.h.

#include <mrpt/graphslam/GSO/CLevMarqGSO.h>

Inheritance diagram for mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams:

Public Member Functions
	OptimizationParams ()
	~OptimizationParams ()
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
mrpt::utils::TParametersDouble	cfg
bool	optimization_on_second_thread
double	optimization_distance
	optimize only for the nodes found in a certain distance from the current position. More...
double	offset_y_optimization_distance
int	text_index_optimization_distance
mrpt::utils::TColor	optimization_distance_color
std::string	keystroke_optimization_distance
	Keystroke to toggle the optimization distance on/off. More...
std::string	keystroke_optimize_graph
	Keystroke to manually trigger a full graph optimization. More...
int	LC_min_nodeid_diff
GRAPH_T::edges_map_t	last_pair_nodes_to_edge

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

OptimizationParams()

template<class GRAPH_T >

mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::OptimizationParams

(

)

Definition at line 685 of file CLevMarqGSO_impl.h.

~OptimizationParams()

template<class GRAPH_T >

mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::~OptimizationParams

(

)

Definition at line 691 of file CLevMarqGSO_impl.h.

Member Function Documentation

dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

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().

dumpToTextStream()

template<class GRAPH_T >

void mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::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 694 of file CLevMarqGSO_impl.h.

References MRPT_END, MRPT_START, and mrpt::utils::CStream::printf().

dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( CStream &  out, const char *  varName, bool  v  )

staticprotectedinherited

Definition at line 67 of file CLoadableOptions.cpp.

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

dumpVar_double()

void CLoadableOptions::dumpVar_double ( CStream &  out, const char *  varName, double  v  )

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

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

dumpVar_float()

void CLoadableOptions::dumpVar_float ( CStream &  out, const char *  varName, float  v  )

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

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

dumpVar_int()

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().

dumpVar_string()

void CLoadableOptions::dumpVar_string ( CStream &  out, const char *  varName, const std::string &  v  )

staticprotectedinherited

Definition at line 72 of file CLoadableOptions.cpp.

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

loadFromConfigFile()

template<class GRAPH_T >

void mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::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 710 of file CLevMarqGSO_impl.h.

References ASSERTMSG_, mrpt::format(), MRPT_END, and MRPT_START.

loadFromConfigFileName()

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().

saveToConfigFile()

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase &  target, const std::string &  section  ) const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also

loadFromConfigFile, saveToConfigFileName

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().

saveToConfigFileName()

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

cfg

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::utils::TParametersDouble mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::cfg

Definition at line 171 of file CLevMarqGSO.h.

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

keystroke_optimization_distance

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::keystroke_optimization_distance

Keystroke to toggle the optimization distance on/off.

Definition at line 183 of file CLevMarqGSO.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::notifyOfWindowEvents().

keystroke_optimize_graph

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::keystroke_optimize_graph

Keystroke to manually trigger a full graph optimization.

Definition at line 185 of file CLevMarqGSO.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::notifyOfWindowEvents().

last_pair_nodes_to_edge

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

GRAPH_T::edges_map_t mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::last_pair_nodes_to_edge

Definition at line 192 of file CLevMarqGSO.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::checkForLoopClosures(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateState().

LC_min_nodeid_diff

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

int mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::LC_min_nodeid_diff

Definition at line 188 of file CLevMarqGSO.h.

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

offset_y_optimization_distance

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::offset_y_optimization_distance

Definition at line 179 of file CLevMarqGSO.h.

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

optimization_distance

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_distance

optimize only for the nodes found in a certain distance from the current position.

Optimize for the entire graph if set to -1

Definition at line 178 of file CLevMarqGSO.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::_optimizeGraph(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::checkForFullOptimization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualizationInternal(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::notifyOfWindowEvents(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateVisuals().

optimization_distance_color

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

mrpt::utils::TColor mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_distance_color

Definition at line 181 of file CLevMarqGSO.h.

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualizationInternal().

optimization_on_second_thread

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_on_second_thread

Definition at line 173 of file CLevMarqGSO.h.

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

text_index_optimization_distance

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

int mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::text_index_optimization_distance

Definition at line 180 of file CLevMarqGSO.h.

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