Detailed Description

A variety of options and configuration params (private, use loadOptions).

Definition at line 395 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CHMTSLAM::TOptions:

Public Member Functions
	TOptions ()
	Initialization of default params. More...

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
	This method load the options from a ".ini"-like file or memory-stored string list. 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
std::string	LOG_OUTPUT_DIR
	[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there. More...

int	LOG_FREQUENCY
	[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated. More...

TLSlamMethod	SLAM_METHOD
	[LSLAM] The method to use for local SLAM More...

float	SLAM_MIN_DIST_BETWEEN_OBS
	[LSLAM] Minimum distance (and heading) difference between observations inserted in the map. More...

float	SLAM_MIN_HEADING_BETWEEN_OBS

float	MIN_ODOMETRY_STD_XY
	[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0) More...

float	MIN_ODOMETRY_STD_PHI
	[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0) More...

float	VIEW3D_AREA_SPHERES_HEIGHT
	[VIEW3D] The height of the areas' spheres. More...

float	VIEW3D_AREA_SPHERES_RADIUS
	[VIEW3D] The radius of the areas' spheres. More...

mrpt::math::CVectorFloat	stds_Q_no_odo
	A 3-length vector with the std. More...

mrpt::slam::CIncrementalMapPartitioner::TOptions	AA_options
	[AA] The options for the partitioning algorithm More...

mrpt::maps::TSetOfMetricMapInitializers	defaultMapsInitializers
	The default set of maps to be created in each particle. More...

bayes::CParticleFilter::TParticleFilterOptions	pf_options
	These params are used from every LMH object. More...

mrpt::slam::TKLDParams	KLD_params

int	random_seed
	0 means randomize, use any other value to have repetitive experiments. More...

vector_string	TLC_detectors
	A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching. More...

CTopLCDetector_GridMatching::TOptions	TLC_grid_options
	Options passed to this TLC constructor. More...

CTopLCDetector_FabMap::TOptions	TLC_fabmap_options
	Options passed to this TLC constructor. 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

◆ TOptions()

CHMTSLAM::TOptions::TOptions ( )

Initialization of default params.

Definition at line 270 of file CHMTSLAM_main.cpp.

References DEG2RAD, LOG_FREQUENCY, LOG_OUTPUT_DIR, mrpt::hmtslam::CHMTSLAM::lsmRBPF_2DLASER, MIN_ODOMETRY_STD_PHI, MIN_ODOMETRY_STD_XY, random_seed, SLAM_METHOD, SLAM_MIN_DIST_BETWEEN_OBS, SLAM_MIN_HEADING_BETWEEN_OBS, stds_Q_no_odo, TLC_detectors, VIEW3D_AREA_SPHERES_HEIGHT, and VIEW3D_AREA_SPHERES_RADIUS.

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()

void CHMTSLAM::TOptions::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 338 of file CHMTSLAM_main.cpp.

References LOADABLEOPTS_DUMP_VAR, LOADABLEOPTS_DUMP_VAR_DEG, 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()

void CHMTSLAM::TOptions::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 299 of file CHMTSLAM_main.cpp.

References ASSERT_, DEG2RAD, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT, MRPT_LOAD_CONFIG_VAR_DEGREES, RAD2DEG, and mrpt::system::tokenize().

Referenced by mrpt::hmtslam::CHMTSLAM::loadOptions().

◆ 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

◆ AA_options

mrpt::slam::CIncrementalMapPartitioner::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::AA_options

[AA] The options for the partitioning algorithm

Definition at line 436 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::loadOptions().

◆ defaultMapsInitializers

mrpt::maps::TSetOfMetricMapInitializers mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers

The default set of maps to be created in each particle.

Definition at line 438 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), and mrpt::hmtslam::CHMTSLAM::loadOptions().

◆ KLD_params

mrpt::slam::TKLDParams mrpt::hmtslam::CHMTSLAM::TOptions::KLD_params

Definition at line 440 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::loadOptions().

◆ LOG_FREQUENCY

int mrpt::hmtslam::CHMTSLAM::TOptions::LOG_FREQUENCY

[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.

Definition at line 406 of file CHMTSLAM.h.

Referenced by TOptions().

◆ LOG_OUTPUT_DIR

std::string mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR

[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there.

Definition at line 405 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), TOptions(), and mrpt::hmtslam::CHMTSLAM::~CHMTSLAM().

◆ MIN_ODOMETRY_STD_PHI

float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_PHI

[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)

Definition at line 420 of file CHMTSLAM.h.

Referenced by TOptions().

◆ MIN_ODOMETRY_STD_XY

float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_XY

[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)

Definition at line 417 of file CHMTSLAM.h.

Referenced by TOptions().

◆ pf_options

bayes::CParticleFilter::TParticleFilterOptions mrpt::hmtslam::CHMTSLAM::TOptions::pf_options

These params are used from every LMH object.

Definition at line 439 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::loadOptions().

◆ random_seed

int mrpt::hmtslam::CHMTSLAM::TOptions::random_seed

0 means randomize, use any other value to have repetitive experiments.

Definition at line 442 of file CHMTSLAM.h.

Referenced by TOptions().

◆ SLAM_METHOD

TLSlamMethod mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_METHOD

[LSLAM] The method to use for local SLAM

Definition at line 410 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), and TOptions().

◆ SLAM_MIN_DIST_BETWEEN_OBS

float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_DIST_BETWEEN_OBS

[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.

Definition at line 414 of file CHMTSLAM.h.

Referenced by TOptions().

◆ SLAM_MIN_HEADING_BETWEEN_OBS

float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_HEADING_BETWEEN_OBS

Definition at line 414 of file CHMTSLAM.h.

Referenced by TOptions().

◆ stds_Q_no_odo

mrpt::math::CVectorFloat mrpt::hmtslam::CHMTSLAM::TOptions::stds_Q_no_odo

A 3-length vector with the std.

deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)

Definition at line 432 of file CHMTSLAM.h.

Referenced by TOptions().

◆ TLC_detectors

vector_string mrpt::hmtslam::CHMTSLAM::TOptions::TLC_detectors

A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching.

'fabmap': Mark Cummins' image matching framework.

Definition at line 448 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), and TOptions().

◆ TLC_fabmap_options

CTopLCDetector_FabMap::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options

Options passed to this TLC constructor.

Definition at line 451 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CTopLCDetector_FabMap::CTopLCDetector_FabMap(), and mrpt::hmtslam::CHMTSLAM::loadOptions().

◆ TLC_grid_options

CTopLCDetector_GridMatching::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_grid_options

Options passed to this TLC constructor.

Definition at line 450 of file CHMTSLAM.h.

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::hmtslam::CHMTSLAM::loadOptions().

◆ VIEW3D_AREA_SPHERES_HEIGHT

float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_HEIGHT

[VIEW3D] The height of the areas' spheres.

Definition at line 424 of file CHMTSLAM.h.

Referenced by TOptions().

◆ VIEW3D_AREA_SPHERES_RADIUS

float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_RADIUS

[VIEW3D] The radius of the areas' spheres.

Definition at line 428 of file CHMTSLAM.h.

Referenced by TOptions().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ AA_options

◆ defaultMapsInitializers

◆ KLD_params

◆ LOG_FREQUENCY

◆ LOG_OUTPUT_DIR

◆ MIN_ODOMETRY_STD_PHI

◆ MIN_ODOMETRY_STD_XY

◆ pf_options

◆ random_seed

◆ SLAM_METHOD

◆ SLAM_MIN_DIST_BETWEEN_OBS

◆ SLAM_MIN_HEADING_BETWEEN_OBS

◆ stds_Q_no_odo

◆ TLC_detectors

◆ TLC_fabmap_options

◆ TLC_grid_options

◆ VIEW3D_AREA_SPHERES_HEIGHT

◆ VIEW3D_AREA_SPHERES_RADIUS