Main MRPT website > C++ reference for MRPT 1.5.6
List of all members | Public Member Functions | Public Attributes | Static Protected Member Functions
mrpt::maps::CBeaconMap::TInsertionOptions Struct Reference

Detailed Description

This struct contains data for choosing the method by which new beacons are inserted in the map.

Definition at line 120 of file maps/CBeaconMap.h.

#include <mrpt/maps/CBeaconMap.h>

Inheritance diagram for mrpt::maps::CBeaconMap::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"-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

bool insertAsMonteCarlo
 Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon). More...
 
float maxElevation_deg
 Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90. More...
 
float minElevation_deg
 
unsigned int MC_numSamplesPerMeter
 Number of particles per meter of range, i.e. More...
 
float MC_maxStdToGauss
 The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4). More...
 
float MC_thresholdNegligible
 Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5). More...
 
bool MC_performResampling
 If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion. More...
 
float MC_afterResamplingNoise
 The std.dev. More...
 
float SOG_thresholdNegligible
 Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20). More...
 
float SOG_maxDistBetweenGaussians
 A parameter for initializing 2D/3D SOGs. More...
 
float SOG_separationConstant
 Constant used to compute the std. 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

CBeaconMap::TInsertionOptions::TInsertionOptions ( )

Initilization of default parameters.

Definition at line 922 of file CBeaconMap.cpp.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CBeaconMap::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 940 of file CBeaconMap.cpp.

References 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 CBeaconMap::TInsertionOptions::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 963 of file CBeaconMap.cpp.

References MRPT_LOAD_CONFIG_VAR.

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

bool mrpt::maps::CBeaconMap::TInsertionOptions::insertAsMonteCarlo

Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon).

See Also
MC_performResampling

Definition at line 131 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::maxElevation_deg

Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.

Definition at line 135 of file maps/CBeaconMap.h.

Referenced by mrpt::maps::CBeacon::generateRingSOG().

float mrpt::maps::CBeaconMap::TInsertionOptions::MC_afterResamplingNoise

The std.dev.

of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true.

Definition at line 155 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::MC_maxStdToGauss

The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).

Definition at line 143 of file maps/CBeaconMap.h.

unsigned int mrpt::maps::CBeaconMap::TInsertionOptions::MC_numSamplesPerMeter

Number of particles per meter of range, i.e.

per meter of the "radius of the ring".

Definition at line 139 of file maps/CBeaconMap.h.

bool mrpt::maps::CBeaconMap::TInsertionOptions::MC_performResampling

If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.

Definition at line 151 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::MC_thresholdNegligible

Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).

Definition at line 147 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::minElevation_deg

Definition at line 135 of file maps/CBeaconMap.h.

Referenced by mrpt::maps::CBeacon::generateRingSOG().

float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians

A parameter for initializing 2D/3D SOGs.

Definition at line 163 of file maps/CBeaconMap.h.

Referenced by mrpt::maps::CBeacon::generateRingSOG().

float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_separationConstant

Constant used to compute the std.

dev. int the tangent direction when creating the Gaussians.

Definition at line 167 of file maps/CBeaconMap.h.

Referenced by mrpt::maps::CBeacon::generateRingSOG().

float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_thresholdNegligible

Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).

Definition at line 159 of file maps/CBeaconMap.h.




Page generated by Doxygen 1.8.6 for MRPT 1.5.6 Git: 4c65e84 Tue Apr 24 08:18:17 2018 +0200 at mar abr 24 08:26:17 CEST 2018