Detailed Description

The options for the algorithm.

Definition at line 108 of file CRangeBearingKFSLAM2D.h.

#include <mrpt/slam/CRangeBearingKFSLAM2D.h>

Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM2D::TOptions:

Public Member Functions
	TOptions ()
	Default values. More...

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::math::CVectorFloat	stds_Q_no_odo
	A 3-length vector with the std. More...

float	std_sensor_range {0.1f}
	The std. More...

float	std_sensor_yaw

float	quantiles_3D_representation {3}
	Default = 3. More...

bool	create_simplemap {false}
	Whether to fill m_SFs (default=false) More...

TDataAssociationMethod	data_assoc_method {assocNN}

TDataAssociationMetric	data_assoc_metric {metricMaha}

double	data_assoc_IC_chi2_thres {0.99}
	Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99) More...

TDataAssociationMetric	data_assoc_IC_metric {metricMaha}
	Whether to use mahalanobis (->chi2 criterion) vs. More...

double	data_assoc_IC_ml_threshold {0.0}
	Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) 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()

CRangeBearingKFSLAM2D::TOptions::TOptions ( )

Default values.

Definition at line 763 of file CRangeBearingKFSLAM2D.cpp.

References mrpt::DEG2RAD(), and stds_Q_no_odo.

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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()

void CRangeBearingKFSLAM2D::TOptions::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 777 of file CRangeBearingKFSLAM2D.cpp.

References mrpt::format(), 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()

void CRangeBearingKFSLAM2D::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 732 of file CRangeBearingKFSLAM2D.cpp.

References ASSERT_, create_simplemap, data_assoc_IC_chi2_thres, data_assoc_IC_metric, data_assoc_IC_ml_threshold, data_assoc_method, data_assoc_metric, mrpt::DEG2RAD(), MRPT_LOAD_CONFIG_VAR, quantiles_3D_representation, mrpt::RAD2DEG(), mrpt::config::CConfigFileBase::read_enum(), mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_vector(), mrpt::math::CVectorDynamic< T >::size(), std_sensor_range, std_sensor_yaw, and stds_Q_no_odo.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::loadOptions().

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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

◆ create_simplemap

bool mrpt::slam::CRangeBearingKFSLAM2D::TOptions::create_simplemap {false}

Whether to fill m_SFs (default=false)

Definition at line 131 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::processActionObservation().

◆ data_assoc_IC_chi2_thres

double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_chi2_thres {0.99}

Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)

Definition at line 138 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

◆ data_assoc_IC_metric

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_metric {metricMaha}

Whether to use mahalanobis (->chi2 criterion) vs.

Matching likelihood.

Definition at line 141 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

◆ data_assoc_IC_ml_threshold

double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_ml_threshold {0.0}

Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)

Definition at line 144 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

◆ data_assoc_method

TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_method {assocNN}

Definition at line 134 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

◆ data_assoc_metric

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_metric {metricMaha}

Definition at line 135 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationsAndDataAssociation().

◆ quantiles_3D_representation

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::quantiles_3D_representation {3}

Default = 3.

Definition at line 129 of file CRangeBearingKFSLAM2D.h.

Referenced by mrpt::slam::CRangeBearingKFSLAM2D::getAs3DObject(), and loadFromConfigFile().

◆ std_sensor_range

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_range {0.1f}

The std.

deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.

Definition at line 127 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM2D::OnPreComputingPredictions().

◆ std_sensor_yaw

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_yaw

Definition at line 127 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM2D::OnPreComputingPredictions().

◆ stds_Q_no_odo

mrpt::math::CVectorFloat mrpt::slam::CRangeBearingKFSLAM2D::TOptions::stds_Q_no_odo

A 3-length vector with the std.

deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)

Definition at line 124 of file CRangeBearingKFSLAM2D.h.

Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM2D::OnTransitionNoise(), and TOptions().

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

◆ create_simplemap

◆ data_assoc_IC_chi2_thres

◆ data_assoc_IC_metric

◆ data_assoc_IC_ml_threshold

◆ data_assoc_method

◆ data_assoc_metric

◆ quantiles_3D_representation

◆ std_sensor_range

◆ std_sensor_yaw

◆ stds_Q_no_odo