Detailed Description

Parameters common to any derived class.

Derived classes should derive a new struct from this one, plus "public utils::CLoadableOptions", and call the internal_* methods where appropiate to deal with the variables declared here. Derived classes instantions of their "TInsertionOptions" MUST set the pointer "m_insertOptions_common" upon construction.

Definition at line 186 of file maps/CRandomFieldGridMap2D.h.

#include <mrpt/maps/CRandomFieldGridMap2D.h>

Inheritance diagram for mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon:

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

Constructor & Destructor Documentation

◆ TInsertionOptionsCommon()

CRandomFieldGridMap2D::TInsertionOptionsCommon::TInsertionOptionsCommon ( )

Default values loader.

Definition at line 565 of file CRandomFieldGridMap2D.cpp.

Member Function Documentation

◆ internal_dumpToTextStream_common()

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

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
	)

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().

Member Data Documentation

◆ cutoffRadius

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

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().

◆ dm_sigma_omega

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

[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().

◆ GMRF_gridmap_image_cx

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

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

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

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

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

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

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

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

(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

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

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

(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

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

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

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

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().