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mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions Struct Reference

Detailed Description

template<class octree_t, class octree_node_t>
struct mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions

With this struct options are provided to the observation insertion process.

See Also
CObservation::insertObservationInto()

Definition at line 64 of file maps/COctoMapBase.h.

#include <mrpt/maps/COctoMapBase.h>

Inheritance diagram for mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions:
Inheritance graph

Public Member Functions

 TInsertionOptions (myself_t &parent)
 Initilization of default parameters. More...
 
 TInsertionOptions ()
 Especial constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc. More...
 
TInsertionOptionsoperator= (const TInsertionOptions &o)
 
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 setOccupancyThres (double prob)
 (key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5) More...
 
void setProbHit (double prob)
 (key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7) More...
 
void setProbMiss (double prob)
 (key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4) More...
 
void setClampingThresMin (double thresProb)
 (key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds) More...
 
void setClampingThresMax (double thresProb)
 (key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds) More...
 
double getOccupancyThres () const
 
float getOccupancyThresLog () const
 
double getProbHit () const
 
float getProbHitLog () const
 
double getProbMiss () const
 
float getProbMissLog () const
 
double getClampingThresMin () const
 
float getClampingThresMinLog () const
 
double getClampingThresMax () const
 
float getClampingThresMaxLog () const
 
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

double maxrange
 maximum range for how long individual beams are inserted (default -1: complete beam) More...
 
bool pruning
 whether the tree is (losslessly) pruned after insertion (default: true) 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)
 

Private Attributes

mrpt::utils::ignored_copy_ptr
< myself_t
m_parent
 
double occupancyThres
 
double probHit
 
double probMiss
 
double clampingThresMin
 
double clampingThresMax
 

Constructor & Destructor Documentation

template<class octree_t, class octree_node_t>
mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::TInsertionOptions ( myself_t parent)

Initilization of default parameters.

template<class octree_t, class octree_node_t>
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions ( )

Especial constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc.

Definition at line 248 of file COctoMapBase_impl.h.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual
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
template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax ( ) const
inline
template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMaxLog ( ) const
inline
Returns
maximum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 122 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin ( ) const
inline
template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMinLog ( ) const
inline
Returns
minimum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 118 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres ( ) const
inline
template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThresLog ( ) const
inline
Returns
threshold (logodds) for occupancy - sensor model

Definition at line 104 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit ( ) const
inline
template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHitLog ( ) const
inline
Returns
probablility for a "hit" in the sensor model (logodds)

Definition at line 109 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss ( ) const
inline
template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMissLog ( ) const
inline
Returns
probablility for a "miss" in the sensor model (logodds)

Definition at line 113 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::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 324 of file COctoMapBase_impl.h.

References MRPT_LOAD_CONFIG_VAR, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbMiss().

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().

template<class octree_t, class octree_node_t>
TInsertionOptions& mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator= ( const TInsertionOptions o)
inline

Definition at line 70 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMax, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMin, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::maxrange, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::occupancyThres, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probHit, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probMiss, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::pruning, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss().

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().

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax ( double  thresProb)
inline

(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds)

Definition at line 99 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin ( double  thresProb)
inline

(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds)

Definition at line 97 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres ( double  prob)
inline

(key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5)

Definition at line 91 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit ( double  prob)
inline

(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7)

Definition at line 93 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss ( double  prob)
inline

(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4)

Definition at line 95 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

Member Data Documentation

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMax
private
template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMin
private
template<class octree_t, class octree_node_t>
mrpt::utils::ignored_copy_ptr<myself_t> mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent
private

Definition at line 125 of file maps/COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMaxLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMinLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThresLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHitLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMissLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss().

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::maxrange

maximum range for how long individual beams are inserted (default -1: complete beam)

Definition at line 87 of file maps/COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::occupancyThres
private
template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probHit
private
template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probMiss
private
template<class octree_t, class octree_node_t>
bool mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::pruning

whether the tree is (losslessly) pruned after insertion (default: true)

Definition at line 88 of file maps/COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().




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