MRPT
2.0.2
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The options for the algorithm.
Definition at line 108 of file CRangeBearingKFSLAM2D.h.
#include <mrpt/slam/CRangeBearingKFSLAM2D.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 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) |
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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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 777 of file CRangeBearingKFSLAM2D.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 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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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::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().
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().
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().
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().
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().
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().
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().
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().
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().
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().
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