MRPT
2.0.0
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The options for the algorithm.
Definition at line 163 of file CRangeBearingKFSLAM.h.
#include <mrpt/slam/CRangeBearingKFSLAM.h>
Public Member Functions | |
TOptions () | |
Default values. More... | |
void | loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string §ion) 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 §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... | |
virtual void | saveToConfigFile (mrpt::config::CConfigFileBase &target, const std::string §ion) 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 §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... | |
Public Attributes | |
mrpt::math::CVectorFloat | stds_Q_no_odo |
A 7-length vector with the std. More... | |
float | std_sensor_range {0.01f} |
The std. More... | |
float | std_sensor_yaw |
float | std_sensor_pitch |
float | std_odo_z_additional {0} |
Additional std. More... | |
bool | doPartitioningExperiment {false} |
If set to true (default=false), map will be partitioned using the method stated by partitioningMethod. More... | |
float | quantiles_3D_representation {3} |
Default = 3. More... | |
int | partitioningMethod {0} |
Applicable only if "doPartitioningExperiment=true". 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... | |
bool | create_simplemap {false} |
Whether to fill m_SFs (default=false) More... | |
bool | force_ignore_odometry {false} |
Whether to ignore the input odometry and behave as if there was no odometry at all (default: false) 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) |
CRangeBearingKFSLAM::TOptions::TOptions | ( | ) |
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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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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 798 of file CRangeBearingKFSLAM.cpp.
References mrpt::format(), and out.
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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 745 of file CRangeBearingKFSLAM.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(), doPartitioningExperiment, force_ignore_odometry, MRPT_LOAD_CONFIG_VAR, partitioningMethod, 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_odo_z_additional, std_sensor_pitch, std_sensor_range, std_sensor_yaw, and stds_Q_no_odo.
Referenced by mrpt::slam::CRangeBearingKFSLAM::loadOptions().
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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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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
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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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().
bool mrpt::slam::CRangeBearingKFSLAM::TOptions::create_simplemap {false} |
Whether to fill m_SFs (default=false)
Definition at line 216 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().
double mrpt::slam::CRangeBearingKFSLAM::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 207 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().
TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_metric {metricMaha} |
Whether to use mahalanobis (->chi2 criterion) vs.
Matching likelihood.
Definition at line 210 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().
double mrpt::slam::CRangeBearingKFSLAM::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 213 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().
TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_method {assocNN} |
Definition at line 203 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().
TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_metric {metricMaha} |
Definition at line 204 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnGetObservationsAndDataAssociation().
bool mrpt::slam::CRangeBearingKFSLAM::TOptions::doPartitioningExperiment {false} |
If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.
Definition at line 191 of file CRangeBearingKFSLAM.h.
Referenced by kfslam_traits< CRangeBearingKFSLAM >::doPartitioningExperiment(), mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), mrpt::slam::CRangeBearingKFSLAM::getLastPartitionLandmarks(), loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().
bool mrpt::slam::CRangeBearingKFSLAM::TOptions::force_ignore_odometry {false} |
Whether to ignore the input odometry and behave as if there was no odometry at all (default: false)
Definition at line 220 of file CRangeBearingKFSLAM.h.
Referenced by mrpt::slam::CRangeBearingKFSLAM::getIncrementFromOdometry(), loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise().
int mrpt::slam::CRangeBearingKFSLAM::TOptions::partitioningMethod {0} |
Applicable only if "doPartitioningExperiment=true".
0: Automatically detect partition through graph-cut. N>=1: Cut every "N" observations.
Definition at line 200 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::processActionObservation().
float mrpt::slam::CRangeBearingKFSLAM::TOptions::quantiles_3D_representation {3} |
Default = 3.
Definition at line 194 of file CRangeBearingKFSLAM.h.
Referenced by mrpt::slam::CRangeBearingKFSLAM::getAs3DObject(), and loadFromConfigFile().
float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_odo_z_additional {0} |
Additional std.
dev. to sum to the motion model in the z axis (useful when there is only 2D odometry and we want to put things hard to the algorithm) (default=0)
Definition at line 187 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), and mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise().
float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_pitch |
Definition at line 182 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM::OnPreComputingPredictions().
float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_range {0.01f} |
The std.
deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.
Definition at line 182 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM::OnPreComputingPredictions().
float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_yaw |
Definition at line 182 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnGetObservationNoise(), and mrpt::slam::CRangeBearingKFSLAM::OnPreComputingPredictions().
mrpt::math::CVectorFloat mrpt::slam::CRangeBearingKFSLAM::TOptions::stds_Q_no_odo |
A 7-length vector with the std.
deviation of the transition model in (x,y,z, qr,qx,qy,qz) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y z: In meters.
Definition at line 178 of file CRangeBearingKFSLAM.h.
Referenced by loadFromConfigFile(), mrpt::slam::CRangeBearingKFSLAM::OnTransitionNoise(), and TOptions().
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