Detailed Description

Generic options for the Kalman Filter algorithm in itself.

Definition at line 55 of file CKalmanFilterCapable.h.

#include <mrpt/bayes/CKalmanFilterCapable.h>

Inheritance diagram for mrpt::bayes::TKF_options:

Public Member Functions
	TKF_options (mrpt::system::VerbosityLevel &verb_level_ref)

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &iniFile, const std::string &section) override
	This method load the options from a ".ini"-like file or memory-stored string list. More...

void	dumpToTextStream (std::ostream &out) const override
	This method must display clearly 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::config::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
TKFMethod	method {kfEKFNaive}
	The method to employ (default: kfEKFNaive) More...

mrpt::system::VerbosityLevel &	verbosity_level

int	IKF_iterations {5}
	Number of refinement iterations, only for the IKF method. More...

bool	enable_profiler {false}
	If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution. More...

bool	use_analytic_transition_jacobian {true}
	(default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel. More...

bool	use_analytic_observation_jacobian {true}
	(default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel. More...

bool	debug_verify_analytic_jacobians {false}
	(default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch. More...

double	debug_verify_analytic_jacobians_threshold {1e-2}
	(default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians More...

Static Protected Member Functions
static void	dumpVar_int (std::ostream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...

static void	dumpVar_float (std::ostream &out, const char *varName, float v)

static void	dumpVar_double (std::ostream &out, const char *varName, double v)

static void	dumpVar_bool (std::ostream &out, const char *varName, bool v)

static void	dumpVar_string (std::ostream &out, const char *varName, const std::string &v)

Constructor & Destructor Documentation

◆ TKF_options()

mrpt::bayes::TKF_options::TKF_options ( mrpt::system::VerbosityLevel & verb_level_ref )

inline

Definition at line 57 of file CKalmanFilterCapable.h.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

Definition at line 43 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::dumpToTextStream().

Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ dumpToTextStream()

void mrpt::bayes::TKF_options::dumpToTextStream ( std::ostream & out ) const

inlineoverridevirtual

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 84 of file CKalmanFilterCapable.h.

References enable_profiler, mrpt::format(), IKF_iterations, method, out, and verbosity_level.

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◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	std::ostream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	std::ostream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 56 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	std::ostream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 50 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	std::ostream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	std::ostream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 69 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

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◆ loadFromConfigFile()

void mrpt::bayes::TKF_options::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

inlineoverridevirtual

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::config::CLoadableOptions.

Definition at line 62 of file CKalmanFilterCapable.h.

References debug_verify_analytic_jacobians, debug_verify_analytic_jacobians_threshold, enable_profiler, IKF_iterations, iniFile(), method, MRPT_LOAD_CONFIG_VAR, use_analytic_observation_jacobian, use_analytic_transition_jacobian, and verbosity_level.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::loadOptions(), and mrpt::slam::CRangeBearingKFSLAM::loadOptions().

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◆ 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 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

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◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile	(	mrpt::config::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::nav::CPTG_RobotShape_Circular, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::maps::COccupancyGridMap3D::TInsertionOptions, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::maps::TMapGenericParams, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::maps::TMetricMapInitializer, 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 29 of file CLoadableOptions.cpp.

Referenced by mrpt::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::CLoadableOptions::saveToConfigFileName().

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◆ 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 36 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

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Member Data Documentation

◆ debug_verify_analytic_jacobians

bool mrpt::bayes::TKF_options::debug_verify_analytic_jacobians {false}

(default=false) If true, will compute all the Jacobians numerically and compare them to the analytical ones, throwing an exception on mismatch.

Definition at line 122 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

◆ debug_verify_analytic_jacobians_threshold

double mrpt::bayes::TKF_options::debug_verify_analytic_jacobians_threshold {1e-2}

(default-1e-2) Sets the threshold for the difference between the analytic and the numerical jacobians

Definition at line 125 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

◆ enable_profiler

bool mrpt::bayes::TKF_options::enable_profiler {false}

If enabled (default=false), detailed timing information will be dumped to the console thru a CTimerLog at the end of the execution.

Definition at line 110 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

◆ IKF_iterations

int mrpt::bayes::TKF_options::IKF_iterations {5}

Number of refinement iterations, only for the IKF method.

Definition at line 107 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

◆ method

TKFMethod mrpt::bayes::TKF_options::method {kfEKFNaive}

The method to employ (default: kfEKFNaive)

Definition at line 104 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

◆ use_analytic_observation_jacobian

bool mrpt::bayes::TKF_options::use_analytic_observation_jacobian {true}

(default=true) If true, OnObservationJacobians will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnObservationModel.

Definition at line 118 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

◆ use_analytic_transition_jacobian

bool mrpt::bayes::TKF_options::use_analytic_transition_jacobian {true}

(default=true) If true, OnTransitionJacobian will be called; otherwise, the Jacobian will be estimated from a numeric approximation by calling several times to OnTransitionModel.

Definition at line 114 of file CKalmanFilterCapable.h.

Referenced by loadFromConfigFile().

◆ verbosity_level

mrpt::system::VerbosityLevel& mrpt::bayes::TKF_options::verbosity_level

Definition at line 105 of file CKalmanFilterCapable.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TKF_options()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ debug_verify_analytic_jacobians

◆ debug_verify_analytic_jacobians_threshold

◆ enable_profiler

◆ IKF_iterations

◆ method

◆ use_analytic_observation_jacobian

◆ use_analytic_transition_jacobian

◆ verbosity_level