Detailed Description

The options for the algorithm.

Definition at line 97 of file CRangeBearingKFSLAM2D.h.

#include <mrpt/slam/CRangeBearingKFSLAM2D.h>

Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM2D::TOptions:

Public Member Functions
	TOptions ()
	Default values. 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...

Public Attributes
mrpt::math::CVectorFloat	stds_Q_no_odo
	A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!) More...

float	std_sensor_range

float	std_sensor_yaw
	The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians. More...

float	quantiles_3D_representation
	Default = 3. More...

bool	create_simplemap
	Whether to fill m_SFs (default=false) More...

TDataAssociationMethod	data_assoc_method

TDataAssociationMetric	data_assoc_metric

double	data_assoc_IC_chi2_thres
	Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99) More...

TDataAssociationMetric	data_assoc_IC_metric
	Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood. More...

double	data_assoc_IC_ml_threshold
	Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) 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()

CRangeBearingKFSLAM2D::TOptions::TOptions ( )

Default values.

Definition at line 721 of file CRangeBearingKFSLAM2D.cpp.

References DEG2RAD, and stds_Q_no_odo.

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 CRangeBearingKFSLAM2D::TOptions::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 742 of file CRangeBearingKFSLAM2D.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().

◆ loadFromConfigFile()

void CRangeBearingKFSLAM2D::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 693 of file CRangeBearingKFSLAM2D.cpp.

References ASSERT_, create_simplemap, data_assoc_IC_chi2_thres, data_assoc_IC_metric, data_assoc_IC_ml_threshold, data_assoc_method, data_assoc_metric, DEG2RAD, MRPT_LOAD_CONFIG_VAR, quantiles_3D_representation, RAD2DEG, std_sensor_range, std_sensor_yaw, and stds_Q_no_odo.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::loadOptions().

◆ 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

◆ create_simplemap

bool mrpt::slam::CRangeBearingKFSLAM2D::TOptions::create_simplemap

Whether to fill m_SFs (default=false)

Definition at line 108 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::processActionObservation().

◆ data_assoc_IC_chi2_thres

double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_chi2_thres

Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)

Definition at line 113 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

◆ data_assoc_IC_metric

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_metric

Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.

Definition at line 114 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

◆ data_assoc_IC_ml_threshold

double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_ml_threshold

Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)

Definition at line 115 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

◆ data_assoc_method

TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_method

Definition at line 111 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

◆ data_assoc_metric

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_metric

Definition at line 112 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

◆ quantiles_3D_representation

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::quantiles_3D_representation

Default = 3.

Definition at line 107 of file CRangeBearingKFSLAM2D.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::getAs3DObject(), and loadFromConfigFile().

◆ std_sensor_range

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_range

Definition at line 106 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM2D::OnPreComputingPredictions().

◆ std_sensor_yaw

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_yaw

The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.

Definition at line 106 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM2D::OnPreComputingPredictions().

◆ stds_Q_no_odo

mrpt::math::CVectorFloat mrpt::slam::CRangeBearingKFSLAM2D::TOptions::stds_Q_no_odo

A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)

Definition at line 105 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionNoise(), and TOptions().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ create_simplemap

◆ data_assoc_IC_chi2_thres

◆ data_assoc_IC_metric

◆ data_assoc_IC_ml_threshold

◆ data_assoc_method

◆ data_assoc_metric

◆ quantiles_3D_representation

◆ std_sensor_range

◆ std_sensor_yaw

◆ stds_Q_no_odo