Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
struct mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams

Struct for storing together the parameters needed for ICP matching, laser scans visualization etc.

Definition at line 410 of file CLoopCloserERD.h.

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

Inheritance diagram for mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams:

Public Member Functions
	TLaserParams ()

	~TLaserParams () 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
mrpt::slam::CICP	icp

int	prev_nodes_for_ICP
	How many nodes back to check ICP against? More...

const mrpt::img::TColor	laser_scans_color
	see Constructor for initialization More...

bool	visualize_laser_scans

std::string	keystroke_laser_scans = "l"

bool	use_scan_matching
	Indicate whethet to use scan-matching at all during graphSLAM [on by default]. More...

bool	has_read_config = false

TSlidingWindow	mahal_distance_ICP_odom_win
	Keep track of the mahalanobis distance between the initial pose difference and the suggested new edge for the pairs of checked nodes. More...

TSlidingWindow	goodness_threshold_win
	Keep track of ICP Goodness values for ICP between nearby nodes and adapt the Goodness threshold based on the median of the recorded Goodness values. 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

◆ TLaserParams()

template<class GRAPH_T >

mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::TLaserParams ( )

Definition at line 2490 of file CLoopCloserERD_impl.h.

◆ ~TLaserParams()

template<class GRAPH_T >

mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::~TLaserParams ( )

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::CLoopCloserERD< GRAPH_T >::TLaserParams::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 2501 of file CLoopCloserERD_impl.h.

References MRPT_END, MRPT_START, and out.

◆ 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::CLoopCloserERD< GRAPH_T >::TLaserParams::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 2516 of file CLoopCloserERD_impl.h.

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

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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

◆ goodness_threshold_win

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

TSlidingWindow mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::goodness_threshold_win

Keep track of ICP Goodness values for ICP between nearby nodes and adapt the Goodness threshold based on the median of the recorded Goodness values.

Definition at line 453 of file CLoopCloserERD.h.

◆ has_read_config

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

bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::has_read_config = false

Definition at line 441 of file CLoopCloserERD.h.

◆ icp

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

mrpt::slam::CICP mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::icp

Definition at line 420 of file CLoopCloserERD.h.

◆ keystroke_laser_scans

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

std::string mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::keystroke_laser_scans = "l"

Definition at line 431 of file CLoopCloserERD.h.

◆ laser_scans_color

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

const mrpt::img::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::laser_scans_color

Initial value:

=

mrpt::img::TColor(0, 20, 255)

see Constructor for initialization

Definition at line 426 of file CLoopCloserERD.h.

◆ mahal_distance_ICP_odom_win

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

TSlidingWindow mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::mahal_distance_ICP_odom_win

Keep track of the mahalanobis distance between the initial pose difference and the suggested new edge for the pairs of checked nodes.

Definition at line 442 of file CLoopCloserERD.h.

◆ prev_nodes_for_ICP

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

int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::prev_nodes_for_ICP

How many nodes back to check ICP against?

Definition at line 423 of file CLoopCloserERD.h.

◆ use_scan_matching

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

bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::use_scan_matching

Indicate whethet to use scan-matching at all during graphSLAM [on by default].

Warning: It is strongly recomended that the user does not set this to false (via the .ini file). graphSLAM may diverge significantly if no scan-matching is not used.

Definition at line 440 of file CLoopCloserERD.h.

◆ visualize_laser_scans

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

bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::visualize_laser_scans

Definition at line 428 of file CLoopCloserERD.h.

Detailed Description

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf> struct mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TLaserParams()

◆ ~TLaserParams()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ goodness_threshold_win

◆ has_read_config

◆ icp

◆ keystroke_laser_scans

◆ laser_scans_color

◆ mahal_distance_ICP_odom_win

◆ prev_nodes_for_ICP

◆ use_scan_matching

◆ visualize_laser_scans

template<class GRAPH_T = typename mrpt::graphs::CNetworkOfPoses2DInf>
struct mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams