mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams Struct Reference

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
struct mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams

Definition at line 131 of file CICPCriteriaERD.h.

#include <mrpt/graphslam/ERD/CICPCriteriaERD.h>

Inheritance diagram for mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams:

Public Member Functions
	TParams (decider_t &d)
	~TParams () override
void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, 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 should clearly display all the contents of the structure in textual form, sending it to a std::ostream. 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
decider_t &	decider
double	ICP_max_distance
double	ICP_goodness_thresh
size_t	LC_min_nodeid_diff
bool	visualize_laser_scans
std::string	keystroke_laser_scans
std::string	scans_img_external_dir
bool	has_read_config

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

TParams()

template<class GRAPH_T >

mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::TParams

(

decider_t &

d

)

Definition at line 617 of file CICPCriteriaERD_impl.h.

~TParams()

template<class GRAPH_T >

mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::~TParams ( )

overridedefault

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()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::dumpToTextStream ( std::ostream &  out ) const

overridevirtual

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 626 of file CICPCriteriaERD_impl.h.

References mrpt::format(), MRPT_END, MRPT_START, and out.

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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()

template<class GRAPH_T >

void mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::loadFromConfigFile ( const mrpt::config::CConfigFileBase &  source, const std::string &  section  )

overridevirtual

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 649 of file CICPCriteriaERD_impl.h.

References MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::CConfigFileBase::read_string().

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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

decider

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

decider_t& mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::decider

Definition at line 142 of file CICPCriteriaERD.h.

has_read_config

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::has_read_config

Definition at line 155 of file CICPCriteriaERD.h.

ICP_goodness_thresh

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::ICP_goodness_thresh

Definition at line 146 of file CICPCriteriaERD.h.

ICP_max_distance

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

double mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::ICP_max_distance

Definition at line 144 of file CICPCriteriaERD.h.

keystroke_laser_scans

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::keystroke_laser_scans

Definition at line 151 of file CICPCriteriaERD.h.

LC_min_nodeid_diff

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

size_t mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::LC_min_nodeid_diff

Definition at line 147 of file CICPCriteriaERD.h.

scans_img_external_dir

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

std::string mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::scans_img_external_dir

Definition at line 153 of file CICPCriteriaERD.h.

visualize_laser_scans

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>

bool mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams::visualize_laser_scans

Definition at line 148 of file CICPCriteriaERD.h.