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mrpt::nav::CHolonomicFullEval::TOptions Struct Reference

Detailed Description

Algorithm options.

Definition at line 64 of file CHolonomicFullEval.h.

#include <mrpt/nav/holonomic/CHolonomicFullEval.h>

Inheritance diagram for mrpt::nav::CHolonomicFullEval::TOptions:
Inheritance graph

Public Member Functions

 TOptions ()
 
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 saveToConfigFile (mrpt::utils::CConfigFileBase &cfg, const std::string &section) const MRPT_OVERRIDE
 This method saves the options to a ".ini"-like file or memory-stored string list. 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...
 
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...
 
virtual void dumpToTextStream (mrpt::utils::CStream &out) const
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...
 

Public Attributes

double TOO_CLOSE_OBSTACLE
 Directions with collision-free distances below this threshold are not elegible. More...
 
double TARGET_SLOW_APPROACHING_DISTANCE
 Start to reduce speed when closer than this to target [m]. More...
 
double OBSTACLE_SLOW_DOWN_DISTANCE
 Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance) More...
 
double HYSTERESIS_SECTOR_COUNT
 Range of "sectors" (directions) for hysteresis over successive timesteps. More...
 
std::vector< double > factorWeights
 See docs above. More...
 
std::vector< int32_t > factorNormalizeOrNot
 0/1 to normalize factors. More...
 
std::vector< std::vector< int32_t > > PHASE_FACTORS
 Factor indices [0,4] for the factors to consider in each phase 1,2,...N of the movement decision (Defaults: PHASE1_FACTORS=0 1 2, PHASE2_FACTORS=3 4`) More...
 
std::vector< double > PHASE_THRESHOLDS
 Phase 1,2,N-1... scores must be above this relative range threshold [0,1] to be considered in phase 2 (Default:0.75) More...
 
bool LOG_SCORE_MATRIX
 (default:false, to save space) More...
 
double clearance_threshold_ratio
 Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction. More...
 
double gap_width_ratio_threshold
 Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target. 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

◆ TOptions()

CHolonomicFullEval::TOptions::TOptions ( )

Definition at line 570 of file CHolonomicFullEval.cpp.

References factorNormalizeOrNot, factorWeights, PHASE_FACTORS, and PHASE_THRESHOLDS.

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 CLoadableOptions::dumpToTextStream ( mrpt::utils::CStream &  out) const
virtualinherited

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 in mrpt::vision::TMultiResDescOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMultiResDescMatchOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMatchingOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::vision::TStereoSystemParams, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::graphslam::TSlidingWindow, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::bayes::TKF_options, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::TMapGenericParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CMetricMapBuilderICP::TConfigParams, mrpt::maps::TMetricMapInitializer, mrpt::vision::CCamModel, and mrpt::slam::TKLDParams.

Definition at line 80 of file CLoadableOptions.cpp.

References mrpt::utils::CConfigFileMemory::getContent(), mrpt::utils::CStream::printf(), and mrpt::utils::CLoadableOptions::saveToConfigFile().

Referenced by mrpt::utils::CLoadableOptions::dumpToConsole().

◆ 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().

◆ loadFromConfigFile()

void CHolonomicFullEval::TOptions::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 591 of file CHolonomicFullEval.cpp.

References ASSERT_, empty(), mrpt::mrpt::format(), MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_NO_DEFAULT, and MRPT_START.

◆ 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 CHolonomicFullEval::TOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase &  target,
const std::string &  section 
) const
virtual

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 628 of file CHolonomicFullEval.cpp.

References ASSERT_EQUAL_, mrpt::mrpt::format(), MRPT_END, MRPT_SAVE_CONFIG_VAR_COMMENT, mrpt::utils::MRPT_SAVE_NAME_PADDING, mrpt::utils::MRPT_SAVE_VALUE_PADDING, MRPT_START, and mrpt::system::sprintf_container().

◆ 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

◆ clearance_threshold_ratio

double mrpt::nav::CHolonomicFullEval::TOptions::clearance_threshold_ratio

Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction.

Definition at line 77 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicFullEval::readFromStream(), and mrpt::nav::CHolonomicFullEval::writeToStream().

◆ factorNormalizeOrNot

std::vector<int32_t> mrpt::nav::CHolonomicFullEval::TOptions::factorNormalizeOrNot

0/1 to normalize factors.

Definition at line 71 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicFullEval::readFromStream(), TOptions(), and mrpt::nav::CHolonomicFullEval::writeToStream().

◆ factorWeights

std::vector<double> mrpt::nav::CHolonomicFullEval::TOptions::factorWeights

See docs above.

Definition at line 70 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicFullEval::readFromStream(), TOptions(), and mrpt::nav::CHolonomicFullEval::writeToStream().

◆ gap_width_ratio_threshold

double mrpt::nav::CHolonomicFullEval::TOptions::gap_width_ratio_threshold

Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target.

Definition at line 78 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicFullEval::readFromStream(), and mrpt::nav::CHolonomicFullEval::writeToStream().

◆ HYSTERESIS_SECTOR_COUNT

double mrpt::nav::CHolonomicFullEval::TOptions::HYSTERESIS_SECTOR_COUNT

Range of "sectors" (directions) for hysteresis over successive timesteps.

Definition at line 69 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicFullEval::readFromStream(), and mrpt::nav::CHolonomicFullEval::writeToStream().

◆ LOG_SCORE_MATRIX

bool mrpt::nav::CHolonomicFullEval::TOptions::LOG_SCORE_MATRIX

(default:false, to save space)

Definition at line 75 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::navigate().

◆ OBSTACLE_SLOW_DOWN_DISTANCE

double mrpt::nav::CHolonomicFullEval::TOptions::OBSTACLE_SLOW_DOWN_DISTANCE

Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance)

Definition at line 68 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::navigate(), mrpt::nav::CHolonomicFullEval::readFromStream(), and mrpt::nav::CHolonomicFullEval::writeToStream().

◆ PHASE_FACTORS

std::vector<std::vector<int32_t> > mrpt::nav::CHolonomicFullEval::TOptions::PHASE_FACTORS

Factor indices [0,4] for the factors to consider in each phase 1,2,...N of the movement decision (Defaults: PHASE1_FACTORS=0 1 2, PHASE2_FACTORS=3 4`)

Definition at line 72 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicFullEval::readFromStream(), TOptions(), and mrpt::nav::CHolonomicFullEval::writeToStream().

◆ PHASE_THRESHOLDS

std::vector<double> mrpt::nav::CHolonomicFullEval::TOptions::PHASE_THRESHOLDS

Phase 1,2,N-1... scores must be above this relative range threshold [0,1] to be considered in phase 2 (Default:0.75)

Definition at line 73 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicFullEval::readFromStream(), TOptions(), and mrpt::nav::CHolonomicFullEval::writeToStream().

◆ TARGET_SLOW_APPROACHING_DISTANCE

double mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE

Start to reduce speed when closer than this to target [m].

Definition at line 67 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::getTargetApproachSlowDownDistance(), mrpt::nav::CHolonomicFullEval::navigate(), mrpt::nav::CHolonomicFullEval::readFromStream(), mrpt::nav::CHolonomicFullEval::setTargetApproachSlowDownDistance(), and mrpt::nav::CHolonomicFullEval::writeToStream().

◆ TOO_CLOSE_OBSTACLE

double mrpt::nav::CHolonomicFullEval::TOptions::TOO_CLOSE_OBSTACLE

Directions with collision-free distances below this threshold are not elegible.

Definition at line 66 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::evalSingleTarget(), mrpt::nav::CHolonomicFullEval::navigate(), mrpt::nav::CHolonomicFullEval::readFromStream(), and mrpt::nav::CHolonomicFullEval::writeToStream().



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