MRPT
2.0.0
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Definition at line 235 of file CAbstractNavigator.h.
#include <mrpt/nav/reactive/CAbstractNavigator.h>
Public Member Functions | |
void | loadFromConfigFile (const mrpt::config::CConfigFileBase &c, const std::string &s) override |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | saveToConfigFile (mrpt::config::CConfigFileBase &c, const std::string &s) const override |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
TAbstractNavigatorParams () | |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
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... | |
void | saveToConfigFileName (const std::string &config_file, const std::string §ion) 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... | |
virtual void | dumpToTextStream (std::ostream &out) const |
This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. More... | |
Public Attributes | |
double | dist_to_target_for_sending_event {0} |
Default value=0, means use the "targetAllowedDistance" passed by the user in the navigation request. More... | |
double | alarm_seems_not_approaching_target_timeout {30} |
navigator timeout (seconds) [Default=30 sec] More... | |
double | dist_check_target_is_blocked {0.6} |
(Default value=0.6) When closer than this distance, check if the target is blocked to abort navigation with an error. More... | |
int | hysteresis_check_target_is_blocked {3} |
(Default=3) How many steps should the condition for dist_check_target_is_blocked be fulfilled to raise an event 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) |
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default |
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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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virtualinherited |
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 in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMatchingOptions, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CPointsMap::TRenderOptions, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TLikelihoodOptions, mrpt::vision::TStereoSystemParams, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::bayes::TKF_options, mrpt::graphslam::TSlidingWindow, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::maps::TMetricMapInitializer, mrpt::slam::CMetricMapBuilderICP::TConfigParams, and mrpt::slam::TKLDParams.
Definition at line 76 of file CLoadableOptions.cpp.
References mrpt::config::CConfigFileMemory::getContent(), out, and mrpt::config::CLoadableOptions::saveToConfigFile().
Referenced by mrpt::config::CLoadableOptions::dumpToConsole(), mrpt::maps::TMetricMapInitializer::dumpToTextStream(), mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams::dumpToTextStream(), mrpt::maps::COccupancyGridMap3D::TMapDefinition::dumpToTextStream_map_specific(), and mrpt::apps::ICP_SLAM_App_Base::run().
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staticprotectedinherited |
Definition at line 62 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Definition at line 56 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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staticprotectedinherited |
Definition at line 50 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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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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staticprotectedinherited |
Definition at line 69 of file CLoadableOptions.cpp.
References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.
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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:
Implements mrpt::config::CLoadableOptions.
Definition at line 437 of file CAbstractNavigator.cpp.
References alarm_seems_not_approaching_target_timeout, dist_check_target_is_blocked, dist_to_target_for_sending_event, hysteresis_check_target_is_blocked, and MRPT_LOAD_CONFIG_VAR_CS.
Referenced by mrpt::nav::CAbstractNavigator::loadConfigFile().
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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.
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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overridevirtual |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented from mrpt::config::CLoadableOptions.
Definition at line 445 of file CAbstractNavigator.cpp.
References MRPT_SAVE_CONFIG_VAR_COMMENT.
Referenced by mrpt::nav::CAbstractNavigator::saveConfigFile().
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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.
Definition at line 36 of file CLoadableOptions.cpp.
References mrpt::config::CLoadableOptions::saveToConfigFile().
double mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::alarm_seems_not_approaching_target_timeout {30} |
navigator timeout (seconds) [Default=30 sec]
Definition at line 241 of file CAbstractNavigator.h.
Referenced by loadFromConfigFile().
double mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_check_target_is_blocked {0.6} |
(Default value=0.6) When closer than this distance, check if the target is blocked to abort navigation with an error.
Definition at line 244 of file CAbstractNavigator.h.
Referenced by loadFromConfigFile(), and mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().
double mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_to_target_for_sending_event {0} |
Default value=0, means use the "targetAllowedDistance" passed by the user in the navigation request.
Definition at line 239 of file CAbstractNavigator.h.
Referenced by loadFromConfigFile(), and mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().
int mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::hysteresis_check_target_is_blocked {3} |
(Default=3) How many steps should the condition for dist_check_target_is_blocked be fulfilled to raise an event
Definition at line 247 of file CAbstractNavigator.h.
Referenced by loadFromConfigFile(), and mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().
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