Detailed Description

Parameters related with inserting observations into the map:

Definition at line 56 of file maps/CGasConcentrationGridMap2D.h.

#include <mrpt/maps/CGasConcentrationGridMap2D.h>

Inheritance diagram for mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions:

Public Member Functions
	TInsertionOptions ()
	Default values loader. 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...

void	internal_loadFromConfigFile_common (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions. More...

void	internal_dumpToTextStream_common (mrpt::utils::CStream &out) const
	See utils::CLoadableOptions. More...

Public Attributes
For all mapping methods
std::string	gasSensorLabel
	The label of the CObservationGasSensor used to generate the map. More...

uint16_t	enose_id
	id for the enose used to generate this map (must be < gasGrid_count) More...

uint16_t	gasSensorType
	The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...) More...

std::string	windSensorLabel
	The label of the WindSenor used to simulate advection. More...

bool	useWindInformation

float	advectionFreq
	Indicates if wind information must be used to simulate Advection. More...

float	std_windNoise_phi
	Frequency for simulating advection (only used to transform wind speed to distance) More...

float	std_windNoise_mod

float	default_wind_direction
	The std to consider on wind information measurements. More...

float	default_wind_speed

Kernel methods (mrKernelDM, mrKernelDMV)
float	sigma
	The sigma of the "Parzen"-kernel Gaussian. More...

float	cutoffRadius
	The cutoff radius for updating cells. More...

float	R_min

float	R_max
	Limits for normalization of sensor readings. More...

double	dm_sigma_omega
	[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) */ More...

Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate)
float	KF_covSigma
	The "sigma" for the initial covariance value between cells (in meters). More...

float	KF_initialCellStd
	The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units). More...

float	KF_observationModelNoise
	The sensor model noise (in normalized concentration units). More...

float	KF_defaultCellMeanValue
	The default value for the mean of cells' concentration. More...

uint16_t	KF_W_size
	[mrKalmanApproximate] The size of the window of neighbor cells. More...

Gaussian Markov Random Fields methods (mrGMRF_SD)
double	GMRF_lambdaPrior
	The information (Lambda) of fixed map constraints. More...

double	GMRF_lambdaObs
	The initial information (Lambda) of each observation (this information will decrease with time) More...

double	GMRF_lambdaObsLoss
	The loss of information of the observations with each iteration. More...

bool	GMRF_use_occupancy_information
	whether to use information of an occupancy_gridmap map for building the GMRF More...

std::string	GMRF_simplemap_file
	simplemap_file name of the occupancy_gridmap More...

std::string	GMRF_gridmap_image_file
	image name of the occupancy_gridmap More...

double	GMRF_gridmap_image_res
	occupancy_gridmap resolution: size of each pixel (m) More...

size_t	GMRF_gridmap_image_cx
	Pixel coordinates of the origin for the occupancy_gridmap. More...

size_t	GMRF_gridmap_image_cy
	Pixel coordinates of the origin for the occupancy_gridmap. More...

double	GMRF_saturate_min

double	GMRF_saturate_max
	(Default:-inf,+inf) Saturate the estimated mean in these limits More...

bool	GMRF_skip_variance
	(Default:false) Skip the computation of the variance, just compute the mean 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

◆ TInsertionOptions()

CGasConcentrationGridMap2D::TInsertionOptions::TInsertionOptions ( )

Default values loader.

Definition at line 423 of file CGasConcentrationGridMap2D.cpp.

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 CGasConcentrationGridMap2D::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 440 of file CGasConcentrationGridMap2D.cpp.

References 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().

◆ internal_dumpToTextStream_common()

void CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common ( mrpt::utils::CStream & out ) const

inherited

See utils::CLoadableOptions.

Definition at line 598 of file CRandomFieldGridMap2D.cpp.

References mrpt::utils::CStream::printf().

◆ internal_loadFromConfigFile_common()

void CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

inherited

See utils::CLoadableOptions.

Definition at line 627 of file CRandomFieldGridMap2D.cpp.

References MRPT_LOAD_CONFIG_VAR, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

◆ loadFromConfigFile()

void CGasConcentrationGridMap2D::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 465 of file CGasConcentrationGridMap2D.cpp.

References mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

◆ 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

◆ advectionFreq

float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::advectionFreq

Indicates if wind information must be used to simulate Advection.

Definition at line 74 of file maps/CGasConcentrationGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid().

◆ cutoffRadius

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius

inherited

The cutoff radius for updating cells.

Definition at line 200 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), and mrpt::maps::CGasConcentrationGridMap2D::writeToStream().

◆ default_wind_direction

float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::default_wind_direction

The std to consider on wind information measurements.

Definition at line 76 of file maps/CGasConcentrationGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_clear().

◆ default_wind_speed

float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::default_wind_speed

Definition at line 76 of file maps/CGasConcentrationGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_clear().

◆ dm_sigma_omega

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega

inherited

[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) */

Definition at line 202 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), and mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV().

◆ enose_id

uint16_t mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::enose_id

id for the enose used to generate this map (must be < gasGrid_count)

Definition at line 68 of file maps/CGasConcentrationGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation().

◆ gasSensorLabel

std::string mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::gasSensorLabel

The label of the CObservationGasSensor used to generate the map.

Definition at line 67 of file maps/CGasConcentrationGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation().

◆ gasSensorType

uint16_t mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::gasSensorType

The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...)

Definition at line 69 of file maps/CGasConcentrationGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation().

◆ GMRF_gridmap_image_cx

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cx

inherited

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 224 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_cy

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cy

inherited

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 225 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_file

inherited

image name of the occupancy_gridmap

Definition at line 222 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_res

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_res

inherited

occupancy_gridmap resolution: size of each pixel (m)

Definition at line 223 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObs

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObs

inherited

The initial information (Lambda) of each observation (this information will decrease with time)

Definition at line 217 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertIndividualReading().

◆ GMRF_lambdaObsLoss

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObsLoss

inherited

The loss of information of the observations with each iteration.

Definition at line 218 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_lambdaPrior

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaPrior

inherited

The information (Lambda) of fixed map constraints.

Definition at line 216 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_saturate_max

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max

inherited

(Default:-inf,+inf) Saturate the estimated mean in these limits

Definition at line 227 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_saturate_min

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min

inherited

Definition at line 227 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::CGasConcentrationGridMap2D(), mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_simplemap_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_simplemap_file

inherited

simplemap_file name of the occupancy_gridmap

Definition at line 221 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_skip_variance

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_skip_variance

inherited

(Default:false) Skip the computation of the variance, just compute the mean

Definition at line 228 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_use_occupancy_information

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_use_occupancy_information

inherited

whether to use information of an occupancy_gridmap map for building the GMRF

Definition at line 220 of file maps/CRandomFieldGridMap2D.h.

◆ KF_covSigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma

inherited

The "sigma" for the initial covariance value between cells (in meters).

Definition at line 207 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CRandomFieldGridMap2D::resize(), and mrpt::maps::CGasConcentrationGridMap2D::writeToStream().

◆ KF_defaultCellMeanValue

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue

inherited

The default value for the mean of cells' concentration.

Definition at line 210 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), and mrpt::maps::CGasConcentrationGridMap2D::writeToStream().

◆ KF_initialCellStd

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd

inherited

The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).

Definition at line 208 of file maps/CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CGasConcentrationGridMap2D::readFromStream(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection(), and mrpt::maps::CGasConcentrationGridMap2D::writeToStream().