Detailed Description

template<class octree_t, class octree_node_t>
struct mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions

With this struct options are provided to the observation insertion process.

See also: CObservation::insertObservationInto()

Definition at line 70 of file COctoMapBase.h.

#include <mrpt/maps/COctoMapBase.h>

Inheritance diagram for mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions:

Public Member Functions
	TInsertionOptions (myself_t &parent)
	Initilization of default parameters. More...

	TInsertionOptions ()
	Special constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc. More...

	TInsertionOptions (const TInsertionOptions &o)

TInsertionOptions &	operator= (const TInsertionOptions &o)

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	setOccupancyThres (double prob)
	insertion (default: true) More...

void	setProbHit (double prob)
	(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7) More...

void	setProbMiss (double prob)
	(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4) More...

void	setClampingThresMin (double thresProb)
	(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds) More...

void	setClampingThresMax (double thresProb)
	(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds) More...

double	getOccupancyThres () const

float	getOccupancyThresLog () const

double	getProbHit () const

float	getProbHitLog () const

double	getProbMiss () const

float	getProbMissLog () const

double	getClampingThresMin () const

float	getClampingThresMinLog () const

double	getClampingThresMax () const

float	getClampingThresMaxLog () const

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
double	maxrange
	maximum range for how long individual beams are More...

bool	pruning {true}
	inserted (default -1: complete beam) 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)

Private Attributes
mrpt::ignored_copy_ptr< myself_t >	m_parent

double	occupancyThres {0.5}

double	probHit

double	probMiss {0.4}

double	clampingThresMin

double	clampingThresMax

Constructor & Destructor Documentation

◆ TInsertionOptions() [1/3]

template<class octree_t, class octree_node_t>

mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::TInsertionOptions ( myself_t & parent )

Initilization of default parameters.

◆ TInsertionOptions() [2/3]

template<class OCTREE , class OCTREE_NODE >

mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions ( )

Special constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc.

Definition at line 312 of file COctoMapBase_impl.h.

◆ TInsertionOptions() [3/3]

template<class octree_t, class octree_node_t>

mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::TInsertionOptions ( const TInsertionOptions & o )

inline

Definition at line 78 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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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 OCTREE , class OCTREE_NODE >

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::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 351 of file COctoMapBase_impl.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbMiss(), LOADABLEOPTS_DUMP_VAR, 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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◆ getClampingThresMax()

template<class octree_t, class octree_node_t>

double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax ( ) const

inline

Returns: maximum threshold for occupancy clamping in the sensor model (probability)

Definition at line 193 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMax, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ getClampingThresMaxLog()

template<class octree_t, class octree_node_t>

float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMaxLog ( ) const

inline

Returns: maximum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 202 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getClampingThresMin()

template<class octree_t, class octree_node_t>

double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin ( ) const

inline

Returns: minimum threshold for occupancy clamping in the sensor model (probability)

Definition at line 178 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMin, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ getClampingThresMinLog()

template<class octree_t, class octree_node_t>

float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMinLog ( ) const

inline

Returns: minimum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 187 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getOccupancyThres()

template<class octree_t, class octree_node_t>

double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres ( ) const

inline

Returns: threshold (probability) for occupancy - sensor model

Definition at line 143 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::occupancyThres.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ getOccupancyThresLog()

template<class octree_t, class octree_node_t>

float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThresLog ( ) const

inline

Returns: threshold (logodds) for occupancy - sensor model

Definition at line 151 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getProbHit()

template<class octree_t, class octree_node_t>

double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit ( ) const

inline

Returns: probablility for a "hit" in the sensor model (probability)

Definition at line 157 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probHit.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ getProbHitLog()

template<class octree_t, class octree_node_t>

float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHitLog ( ) const

inline

Returns: probablility for a "hit" in the sensor model (logodds)

Definition at line 165 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getProbMiss()

template<class octree_t, class octree_node_t>

double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss ( ) const

inline

Returns: probablility for a "miss" in the sensor model (probability)

Definition at line 167 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probMiss.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ getProbMissLog()

template<class octree_t, class octree_node_t>

float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMissLog ( ) const

inline

Returns: probablility for a "miss" in the sensor model (logodds)

Definition at line 175 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ loadFromConfigFile()

template<class OCTREE , class OCTREE_NODE >

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::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 383 of file COctoMapBase_impl.h.

References iniFile(), MRPT_LOAD_CONFIG_VAR, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbMiss().

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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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◆ operator=()

template<class octree_t, class octree_node_t>

TInsertionOptions& mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator= ( const TInsertionOptions & o )

inline

Definition at line 80 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::TInsertionOptions().

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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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◆ setClampingThresMax()

template<class octree_t, class octree_node_t>

void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax ( double thresProb )

inline

(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds)

Definition at line 137 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ setClampingThresMin()

template<class octree_t, class octree_node_t>

void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin ( double thresProb )

inline

(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds)

Definition at line 130 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ setOccupancyThres()

template<class octree_t, class octree_node_t>

void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres ( double prob )

inline

insertion (default: true)

(key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5)

Definition at line 111 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ setProbHit()

template<class octree_t, class octree_node_t>

void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit ( double prob )

inline

(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7)

Definition at line 117 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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◆ setProbMiss()

template<class octree_t, class octree_node_t>

void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss ( double prob )

inline

(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4)

Definition at line 123 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

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Member Data Documentation

◆ clampingThresMax

template<class octree_t, class octree_node_t>

double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMax

private

Initial value:

{

0.971}

Definition at line 221 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ clampingThresMin

template<class octree_t, class octree_node_t>

double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMin

private

Initial value:

{

0.1192}

Definition at line 217 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ m_parent

template<class octree_t, class octree_node_t>

mrpt::ignored_copy_ptr<myself_t> mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent

private

Definition at line 208 of file COctoMapBase.h.

◆ maxrange

template<class octree_t, class octree_node_t>

double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::maxrange

Initial value:

{

-1.}

maximum range for how long individual beams are

Definition at line 103 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ occupancyThres

template<class octree_t, class octree_node_t>

double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::occupancyThres {0.5}

private

Definition at line 210 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ probHit

template<class octree_t, class octree_node_t>

double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probHit

private

Initial value:

{

0.7}

Definition at line 212 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ probMiss

template<class octree_t, class octree_node_t>

double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probMiss {0.4}

private

Definition at line 215 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ pruning

template<class octree_t, class octree_node_t>

bool mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::pruning {true}

inserted (default -1: complete beam)

whether the tree is (losslessly) pruned after

Definition at line 106 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

Detailed Description

template<class octree_t, class octree_node_t> struct mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions

Public Member Functions

Public Attributes

Static Protected Member Functions

Private Attributes

Constructor & Destructor Documentation

◆ TInsertionOptions() [1/3]

◆ TInsertionOptions() [2/3]

◆ TInsertionOptions() [3/3]

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ getClampingThresMax()

◆ getClampingThresMaxLog()

◆ getClampingThresMin()

◆ getClampingThresMinLog()

◆ getOccupancyThres()

◆ getOccupancyThresLog()

◆ getProbHit()

◆ getProbHitLog()

◆ getProbMiss()

◆ getProbMissLog()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ operator=()

◆ saveToConfigFile()

◆ saveToConfigFileName()

◆ setClampingThresMax()

◆ setClampingThresMin()

◆ setOccupancyThres()

◆ setProbHit()

◆ setProbMiss()

Member Data Documentation

◆ clampingThresMax

◆ clampingThresMin

◆ m_parent

◆ maxrange

◆ occupancyThres

◆ probHit

◆ probMiss

◆ pruning

template<class octree_t, class octree_node_t>
struct mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions