MRPT
2.0.2
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This struct contains data for choosing the method by which new beacons are inserted in the map.
Definition at line 128 of file CBeaconMap.h.
#include <mrpt/maps/CBeaconMap.h>
Public Member Functions | |
void | loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string §ion) override |
Initilization of default parameters. 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 | |
bool | insertAsMonteCarlo {true} |
Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon). More... | |
double | maxElevation_deg {0} |
Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90. More... | |
double | minElevation_deg {0} |
unsigned int | MC_numSamplesPerMeter {1000} |
Number of particles per meter of range, i.e. More... | |
float | MC_maxStdToGauss = {0.4f} |
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0.4). More... | |
double | MC_thresholdNegligible {5} |
Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5). More... | |
bool | MC_performResampling {false} |
If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion. More... | |
float | MC_afterResamplingNoise {0.01f} |
The std.dev. More... | |
float | SOG_thresholdNegligible {20.0f} |
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20). More... | |
float | SOG_maxDistBetweenGaussians {1.0f} |
A parameter for initializing 2D/3D SOGs. More... | |
float | SOG_separationConstant {3.0f} |
Constant used to compute the std. 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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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 974 of file CBeaconMap.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 |
Initilization of default parameters.
Implements mrpt::config::CLoadableOptions.
Definition at line 1015 of file CBeaconMap.cpp.
References iniFile(), and MRPT_LOAD_CONFIG_VAR.
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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::maps::CBeaconMap::TInsertionOptions::insertAsMonteCarlo {true} |
Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon).
Definition at line 142 of file CBeaconMap.h.
double mrpt::maps::CBeaconMap::TInsertionOptions::maxElevation_deg {0} |
Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.
Definition at line 149 of file CBeaconMap.h.
Referenced by mrpt::maps::CBeacon::generateRingSOG().
float mrpt::maps::CBeaconMap::TInsertionOptions::MC_afterResamplingNoise {0.01f} |
The std.dev.
of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true.
Definition at line 177 of file CBeaconMap.h.
float mrpt::maps::CBeaconMap::TInsertionOptions::MC_maxStdToGauss = {0.4f} |
The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0.4).
Definition at line 159 of file CBeaconMap.h.
unsigned int mrpt::maps::CBeaconMap::TInsertionOptions::MC_numSamplesPerMeter {1000} |
Number of particles per meter of range, i.e.
per meter of the "radius of the ring".
Definition at line 154 of file CBeaconMap.h.
bool mrpt::maps::CBeaconMap::TInsertionOptions::MC_performResampling {false} |
If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.
Definition at line 172 of file CBeaconMap.h.
double mrpt::maps::CBeaconMap::TInsertionOptions::MC_thresholdNegligible {5} |
Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).
Definition at line 164 of file CBeaconMap.h.
double mrpt::maps::CBeaconMap::TInsertionOptions::minElevation_deg {0} |
Definition at line 149 of file CBeaconMap.h.
Referenced by mrpt::maps::CBeacon::generateRingSOG().
float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians {1.0f} |
A parameter for initializing 2D/3D SOGs.
Definition at line 186 of file CBeaconMap.h.
Referenced by mrpt::maps::CBeacon::generateRingSOG().
float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_separationConstant {3.0f} |
Constant used to compute the std.
dev. int the tangent direction when creating the Gaussians.
Definition at line 191 of file CBeaconMap.h.
Referenced by mrpt::maps::CBeacon::generateRingSOG().
float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_thresholdNegligible {20.0f} |
Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).
Definition at line 182 of file CBeaconMap.h.
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