Detailed Description

Algorithm options.

Definition at line 73 of file CHolonomicFullEval.h.

#include <mrpt/nav/holonomic/CHolonomicFullEval.h>

Inheritance diagram for mrpt::nav::CHolonomicFullEval::TOptions:

Public Member Functions
	TOptions ()

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	saveToConfigFile (mrpt::config::CConfigFileBase &cfg, const std::string &section) const override
	This method saves the options to a ".ini"-like file or memory-stored string list. 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...

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...

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	TOO_CLOSE_OBSTACLE {0.15}
	Directions with collision-free distances below this threshold are not elegible. More...

double	TARGET_SLOW_APPROACHING_DISTANCE {0.60}
	Start to reduce speed when closer than this to target [m]. More...

double	OBSTACLE_SLOW_DOWN_DISTANCE {0.15}
	Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance) More...

double	HYSTERESIS_SECTOR_COUNT {5}
	Range of "sectors" (directions) for hysteresis over successive timesteps. More...

std::vector< double >	factorWeights
	See docs above. More...

std::vector< int32_t >	factorNormalizeOrNot
	0/1 to normalize factors. More...

std::vector< std::vector< int32_t > >	PHASE_FACTORS
	Factor indices [0,4] for the factors to consider in each phase 1,2,...N of the movement decision (Defaults: `PHASE1_FACTORS=0 1 2`, `PHASE2_FACTORS=`3 4`) More...

std::vector< double >	PHASE_THRESHOLDS
	Phase 1,2,N-1... More...

bool	LOG_SCORE_MATRIX {false}
	(default:false, to save space) More...

double	clearance_threshold_ratio {0.05}
	Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction. More...

double	gap_width_ratio_threshold {0.25}
	Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target. 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

◆ TOptions()

CHolonomicFullEval::TOptions::TOptions ( )

Definition at line 621 of file CHolonomicFullEval.cpp.

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 CLoadableOptions::dumpToTextStream ( std::ostream & out ) const

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.

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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◆ 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 CHolonomicFullEval::TOptions::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 630 of file CHolonomicFullEval.cpp.

References ASSERT_, ASSERT_EQUAL_, mrpt::containers::empty(), mrpt::format(), MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_NO_DEFAULT, MRPT_START, NUM_FACTORS, mrpt::config::CConfigFileBase::read_double(), and mrpt::config::CConfigFileBase::read_vector().

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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 CHolonomicFullEval::TOptions::saveToConfigFile	(	mrpt::config::CConfigFileBase &	target,
		const std::string &	section
	)		const

overridevirtual

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 673 of file CHolonomicFullEval.cpp.

References ASSERT_EQUAL_, mrpt::format(), MRPT_END, MRPT_SAVE_CONFIG_VAR_COMMENT, mrpt::config::MRPT_SAVE_NAME_PADDING(), mrpt::config::MRPT_SAVE_VALUE_PADDING(), MRPT_START, NUM_FACTORS, mrpt::system::sprintf_container(), and mrpt::config::CConfigFileBase::write().

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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

◆ clearance_threshold_ratio

double mrpt::nav::CHolonomicFullEval::TOptions::clearance_threshold_ratio {0.05}

Ratio [0,1], times path_count, gives the minimum number of paths at each side of a target direction to be accepted as desired direction.

Definition at line 104 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ factorNormalizeOrNot

std::vector<int32_t> mrpt::nav::CHolonomicFullEval::TOptions::factorNormalizeOrNot

0/1 to normalize factors.

Definition at line 89 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ factorWeights

std::vector<double> mrpt::nav::CHolonomicFullEval::TOptions::factorWeights

See docs above.

Definition at line 87 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ gap_width_ratio_threshold

double mrpt::nav::CHolonomicFullEval::TOptions::gap_width_ratio_threshold {0.25}

Ratio [0,1], times path_count, gives the minimum gap width to accept a direct motion towards target.

Definition at line 107 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ HYSTERESIS_SECTOR_COUNT

double mrpt::nav::CHolonomicFullEval::TOptions::HYSTERESIS_SECTOR_COUNT {5}

Range of "sectors" (directions) for hysteresis over successive timesteps.

Definition at line 85 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ LOG_SCORE_MATRIX

bool mrpt::nav::CHolonomicFullEval::TOptions::LOG_SCORE_MATRIX {false}

(default:false, to save space)

Definition at line 99 of file CHolonomicFullEval.h.

◆ OBSTACLE_SLOW_DOWN_DISTANCE

double mrpt::nav::CHolonomicFullEval::TOptions::OBSTACLE_SLOW_DOWN_DISTANCE {0.15}

Start to reduce speed when clearance is below this value ([0,1] ratio wrt obstacle reference/max distance)

Definition at line 82 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ PHASE_FACTORS

std::vector<std::vector<int32_t> > mrpt::nav::CHolonomicFullEval::TOptions::PHASE_FACTORS

Factor indices [0,4] for the factors to consider in each phase 1,2,...N of the movement decision (Defaults: PHASE1_FACTORS=0 1 2, PHASE2_FACTORS=3 4`)

Definition at line 93 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ PHASE_THRESHOLDS

std::vector<double> mrpt::nav::CHolonomicFullEval::TOptions::PHASE_THRESHOLDS

Phase 1,2,N-1...

scores must be above this relative range threshold [0,1] to be considered in phase 2 (Default:0.75)

Definition at line 96 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

◆ TARGET_SLOW_APPROACHING_DISTANCE

double mrpt::nav::CHolonomicFullEval::TOptions::TARGET_SLOW_APPROACHING_DISTANCE {0.60}

Start to reduce speed when closer than this to target [m].

Definition at line 79 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::getTargetApproachSlowDownDistance(), mrpt::nav::CHolonomicFullEval::serializeFrom(), mrpt::nav::CHolonomicFullEval::serializeTo(), and mrpt::nav::CHolonomicFullEval::setTargetApproachSlowDownDistance().

◆ TOO_CLOSE_OBSTACLE

double mrpt::nav::CHolonomicFullEval::TOptions::TOO_CLOSE_OBSTACLE {0.15}

Directions with collision-free distances below this threshold are not elegible.

Definition at line 77 of file CHolonomicFullEval.h.

Referenced by mrpt::nav::CHolonomicFullEval::serializeFrom(), and mrpt::nav::CHolonomicFullEval::serializeTo().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ clearance_threshold_ratio

◆ factorNormalizeOrNot

◆ factorWeights

◆ gap_width_ratio_threshold

◆ HYSTERESIS_SECTOR_COUNT

◆ LOG_SCORE_MATRIX

◆ OBSTACLE_SLOW_DOWN_DISTANCE

◆ PHASE_FACTORS

◆ PHASE_THRESHOLDS

◆ TARGET_SLOW_APPROACHING_DISTANCE

◆ TOO_CLOSE_OBSTACLE