Detailed Description

A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and "CMultiMetricMap::setListOfMaps" for effectively creating the list of desired maps.

See also: CMultiMetricMap::CMultiMetricMap, CLoadableOptions

Definition at line 89 of file TMetricMapInitializer.h.

#include <mrpt/maps/TMetricMapInitializer.h>

Inheritance diagram for mrpt::maps::TSetOfMetricMapInitializers:

Public Types
using	iterator = std::deque< TMetricMapInitializer::Ptr >::iterator

using	const_iterator = std::deque< TMetricMapInitializer::Ptr >::const_iterator

Public Member Functions
	TSetOfMetricMapInitializers ()

template<typename MAP_DEFINITION >
void	push_back (const MAP_DEFINITION &o)

void	push_back (const TMetricMapInitializer::Ptr &o)

size_t	size () const

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

void	clear ()

void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &sectionName) override
	Loads the configuration for the set of internal maps from a textual definition in an INI-like file. More...

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

void	dumpToTextStream (std::ostream &out) const override
	This method dumps the options of the multi-metric map AND those of every internal map. 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...

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)

Protected Attributes
std::deque< TMetricMapInitializer::Ptr >	m_list

Member Typedef Documentation

◆ const_iterator

using mrpt::maps::TSetOfMetricMapInitializers::const_iterator = std::deque<TMetricMapInitializer::Ptr>::const_iterator

Definition at line 106 of file TMetricMapInitializer.h.

◆ iterator

using mrpt::maps::TSetOfMetricMapInitializers::iterator = std::deque<TMetricMapInitializer::Ptr>::iterator

Definition at line 104 of file TMetricMapInitializer.h.

Constructor & Destructor Documentation

◆ TSetOfMetricMapInitializers()

mrpt::maps::TSetOfMetricMapInitializers::TSetOfMetricMapInitializers ( )

inline

Definition at line 95 of file TMetricMapInitializer.h.

Member Function Documentation

◆ begin() [1/2]

iterator mrpt::maps::TSetOfMetricMapInitializers::begin ( )

inline

Definition at line 107 of file TMetricMapInitializer.h.

References m_list.

Referenced by dumpToTextStream().

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◆ begin() [2/2]

const_iterator mrpt::maps::TSetOfMetricMapInitializers::begin ( ) const

inline

Definition at line 109 of file TMetricMapInitializer.h.

References m_list.

◆ clear()

void mrpt::maps::TSetOfMetricMapInitializers::clear ( )

inline

Definition at line 111 of file TMetricMapInitializer.h.

References m_list.

Referenced by loadFromConfigFile().

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◆ 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 TSetOfMetricMapInitializers::dumpToTextStream ( std::ostream & out ) const

overridevirtual

This method dumps the options of the multi-metric map AND those of every internal map.

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 120 of file TMetricMapInitializer.cpp.

References begin(), end(), mrpt::format(), MRPT_END, MRPT_START, out, and size().

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization().

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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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◆ end() [1/2]

iterator mrpt::maps::TSetOfMetricMapInitializers::end ( )

inline

Definition at line 108 of file TMetricMapInitializer.h.

References m_list.

Referenced by dumpToTextStream().

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◆ end() [2/2]

const_iterator mrpt::maps::TSetOfMetricMapInitializers::end ( ) const

inline

Definition at line 110 of file TMetricMapInitializer.h.

References m_list.

◆ loadFromConfigFile()

void TSetOfMetricMapInitializers::loadFromConfigFile	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	sectionName
	)

overridevirtual

Loads the configuration for the set of internal maps from a textual definition in an INI-like file.

The format of the ini file is defined in CConfigFile. The list of maps and their options will be loaded from a handle of sections:

 [<sectionName>]
  // Creation of maps:
  occupancyGrid_count=<Number of mrpt::maps::COccupancyGridMap2D maps>
  octoMap_count=<Number of mrpt::maps::COctoMap maps>
  colourOctoMap_count=<Number of mrpt::slam::CColourOctoMap maps>
  gasGrid_count=<Number of mrpt::maps::CGasConcentrationGridMap2D maps>
  wifiGrid_count=<Number of mrpt::maps::CWirelessPowerGridMap2D maps>
  landmarksMap_count=<0 or 1, for creating a mrpt::maps::CLandmarksMap
*map>
  beaconMap_count=<0 or 1, for creating a mrpt::maps::CBeaconMap map>
  pointsMap_count=<Number of mrpt::maps::CSimplePointsMap map>
  heightMap_count=<Number of mrpt::maps::CHeightGridMap2D maps>
  reflectivityMap_count=<Number of mrpt::maps::CReflectivityGridMap2D
*maps>
  colourPointsMap_count=<0 or 1, for creating a
*mrpt::maps::CColouredPointsMap map>
  weightedPointsMap_count=<0 or 1, for creating a
*mrpt::maps::CWeightedPointsMap map>
 // ====================================================
 //  Creation Options for OccupancyGridMap ##:
 [<sectionName>+"_occupancyGrid_##_creationOpts"]
  min_x=<value>
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>
  # Common params for all maps:
  #enableSaveAs3DObject        = {true|false}
  #enableObservationLikelihood = {true|false}
  #enableObservationInsertion  = {true|false}
 // Insertion Options for OccupancyGridMap ##:
 [<sectionName>+"_occupancyGrid_##_insertOpts"]
  <See COccupancyGridMap2D::TInsertionOptions>
 // Likelihood Options for OccupancyGridMap ##:
 [<sectionName>+"_occupancyGrid_##_likelihoodOpts"]
  <See COccupancyGridMap2D::TLikelihoodOptions>
 // ====================================================
 //  Creation Options for OctoMap ##:
 [<sectionName>+"_octoMap_##_creationOpts"]
  resolution=<value>
 // Insertion Options for OctoMap ##:
 [<sectionName>+"_octoMap_##_insertOpts"]
  <See COctoMap::TInsertionOptions>
 // Likelihood Options for OctoMap ##:
 [<sectionName>+"_octoMap_##_likelihoodOpts"]
  <See COctoMap::TLikelihoodOptions>
 // ====================================================
 //  Creation Options for ColourOctoMap ##:
 [<sectionName>+"_colourOctoMap_##_creationOpts"]
  resolution=<value>
 // Insertion Options for ColourOctoMap ##:
 [<sectionName>+"_colourOctoMap_##_insertOpts"]
  <See CColourOctoMap::TInsertionOptions>
 // Likelihood Options for ColourOctoMap ##:
 [<sectionName>+"_colourOctoMap_##_likelihoodOpts"]
  <See CColourOctoMap::TLikelihoodOptions>
 // ====================================================
 // Insertion Options for mrpt::maps::CSimplePointsMap ##:
 [<sectionName>+"_pointsMap_##_insertOpts"]
  <See CPointsMap::TInsertionOptions>
 // Likelihood Options for mrpt::maps::CSimplePointsMap ##:
 [<sectionName>+"_pointsMap_##_likelihoodOpts"]
  <See CPointsMap::TLikelihoodOptions>
 // ====================================================
 // Creation Options for CGasConcentrationGridMap2D ##:
 [<sectionName>+"_gasGrid_##_creationOpts"]
  mapType= <0-1> ; See
*CGasConcentrationGridMap2D::CGasConcentrationGridMap2D
  min_x=<value>
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>
 // Insertion Options for CGasConcentrationGridMap2D ##:
 [<sectionName>+"_gasGrid_##_insertOpts"]
  <See CGasConcentrationGridMap2D::TInsertionOptions>
 // ====================================================
 // Creation Options for CWirelessPowerGridMap2D ##:
 [<sectionName>+"_wifiGrid_##_creationOpts"]
  mapType= <0-1> ; See CWirelessPowerGridMap2D::CWirelessPowerGridMap2D
  min_x=<value>
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>
 // Insertion Options for CWirelessPowerGridMap2D ##:
 [<sectionName>+"_wifiGrid_##_insertOpts"]
  <See CWirelessPowerGridMap2D::TInsertionOptions>
 // ====================================================
 // Creation Options for CLandmarksMap ##:
 [<sectionName>+"_landmarksMap_##_creationOpts"]
  nBeacons=<# of beacons>
  beacon_001_ID=67      ; The ID and 3D coordinates of each beacon
  beacon_001_X=<x>
  beacon_001_Y=<x>
  beacon_001_Z=<x>
 // Insertion Options for CLandmarksMap ##:
 [<sectionName>+"_landmarksMap_##_insertOpts"]
  <See CLandmarksMap::TInsertionOptions>
 // Likelihood Options for CLandmarksMap ##:
 [<sectionName>+"_landmarksMap_##_likelihoodOpts"]
  <See CLandmarksMap::TLikelihoodOptions>
 // ====================================================
 // Insertion Options for CBeaconMap ##:
 [<sectionName>+"_beaconMap_##_insertOpts"]
  <See CBeaconMap::TInsertionOptions>
 // Likelihood Options for CBeaconMap ##:
 [<sectionName>+"_beaconMap_##_likelihoodOpts"]
  <See CBeaconMap::TLikelihoodOptions>
 // ====================================================
 // Creation Options for HeightGridMap ##:
 [<sectionName>+"_heightGrid_##_creationOpts"]
  mapType= <0-1> // See CHeightGridMap2D::CHeightGridMap2D
  min_x=<value>
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>
 // Insertion Options for HeightGridMap ##:
 [<sectionName>+"_heightGrid_##_insertOpts"]
  <See CHeightGridMap2D::TInsertionOptions>
 // ====================================================
 // Creation Options for ReflectivityGridMap ##:
 [<sectionName>+"_reflectivityMap_##_creationOpts"]
  min_x=<value>  // See CReflectivityGridMap2D::CReflectivityGridMap2D
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>
 // Insertion Options for HeightGridMap ##:
 [<sectionName>+"_reflectivityMap_##_insertOpts"]
  <See CReflectivityGridMap2D::TInsertionOptions>
 // ====================================================
 // Insertion Options for CColouredPointsMap ##:
 [<sectionName>+"_colourPointsMap_##_insertOpts"]
  <See CPointsMap::TInsertionOptions>
 // Color Options for CColouredPointsMap ##:
 [<sectionName>+"_colourPointsMap_##_colorOpts"]
  <See CColouredPointsMap::TColourOptions>
 // Likelihood Options for mrpt::maps::CSimplePointsMap ##:
 [<sectionName>+"_colourPointsMap_##_likelihoodOpts"]
  <See CPointsMap::TLikelihoodOptions>
 // ====================================================
 // Insertion Options for CWeightedPointsMap ##:
 [<sectionName>+"_weightedPointsMap_##_insertOpts"]
  <See CPointsMap::TInsertionOptions>
 // Likelihood Options for CWeightedPointsMap ##:
 [<sectionName>+"_weightedPointsMap_##_likelihoodOpts"]
  <See CPointsMap::TLikelihoodOptions>

Where:

##: Represents the index of the map (e.g. "00","01",...)
By default, the variables into each "TOptions" structure of the maps are defined in textual form by the same name of the corresponding C++ variable (e.g. "float resolution;" -> "resolution=0.10")

Note: Examples of map definitions can be found in the '.ini' files provided in the demo directories: "share/mrpt/config-files/"

Implements mrpt::config::CLoadableOptions.

Definition at line 69 of file TMetricMapInitializer.cpp.

References ASSERT_, clear(), mrpt::format(), mrpt::maps::TMetricMapInitializer::loadFromConfigFile(), MRPT_END, MRPT_START, push_back(), and mrpt::config::CConfigFileBase::read_uint64_t().

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::apps::CGridMapAlignerApp::run(), and run_test_pf_localization().

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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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◆ push_back() [1/2]

template<typename MAP_DEFINITION >

void mrpt::maps::TSetOfMetricMapInitializers::push_back ( const MAP_DEFINITION & o )

inline

Definition at line 97 of file TMetricMapInitializer.h.

References m_list.

Referenced by loadFromConfigFile(), mrpt::detectors::CDetectorDoorCrossing::process(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ push_back() [2/2]

void mrpt::maps::TSetOfMetricMapInitializers::push_back ( const TMetricMapInitializer::Ptr & o )

inline

Definition at line 102 of file TMetricMapInitializer.h.

References m_list.

◆ saveToConfigFile()

void TSetOfMetricMapInitializers::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 114 of file TMetricMapInitializer.cpp.

◆ 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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◆ size()

size_t mrpt::maps::TSetOfMetricMapInitializers::size ( ) const

inline

Definition at line 103 of file TMetricMapInitializer.h.

References m_list.

Referenced by dumpToTextStream().

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Member Data Documentation

◆ m_list

std::deque<TMetricMapInitializer::Ptr> mrpt::maps::TSetOfMetricMapInitializers::m_list

protected

Definition at line 92 of file TMetricMapInitializer.h.

Referenced by begin(), clear(), end(), push_back(), and size().

Detailed Description

Public Types

Public Member Functions

Static Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ const_iterator

◆ iterator

Constructor & Destructor Documentation

◆ TSetOfMetricMapInitializers()

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ end() [1/2]

◆ end() [2/2]

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ push_back() [1/2]

◆ push_back() [2/2]

◆ saveToConfigFile()

◆ saveToConfigFileName()

◆ size()

Member Data Documentation

◆ m_list