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mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions Struct Reference

Detailed Description

Parameters related with inserting observations into the map.

Definition at line 48 of file CHeightGridMap2D_MRF.h.

#include <mrpt/maps/CHeightGridMap2D_MRF.h>

Inheritance diagram for mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions:
Inheritance graph

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

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

CHeightGridMap2D_MRF::TInsertionOptions::TInsertionOptions ( )

Default values loader.

Definition at line 270 of file CHeightGridMap2D_MRF.cpp.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void CHeightGridMap2D_MRF::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 277 of file CHeightGridMap2D_MRF.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 CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common ( mrpt::utils::CStream out) const
inherited
void CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
inherited
void CHeightGridMap2D_MRF::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 292 of file CHeightGridMap2D_MRF.cpp.

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

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius
inherited
double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega
inherited
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.

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.

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.

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.

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().

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().

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

The information (Lambda) of fixed map constraints.

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

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max
inherited
double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min
inherited
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.

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().

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.

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma
inherited
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue
inherited
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().

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise
inherited
uint16_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size
inherited
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max
inherited
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min
inherited
float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma
inherited

The sigma of the "Parzen"-kernel Gaussian.

Definition at line 199 of file maps/CRandomFieldGridMap2D.h.

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




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