Detailed Description

Parameters related with inserting observations into the map.

Definition at line 48 of file CHeightGridMap2D_MRF.h.

#include <mrpt/maps/CHeightGridMap2D_MRF.h>

Inheritance diagram for mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions:

Public Member Functions
	TInsertionOptions ()
	Default values loader. 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...

void	internal_loadFromConfigFile_common (const mrpt::config::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions. More...

void	internal_dumpToTextStream_common (std::ostream &out) const
	See utils::CLoadableOptions. More...

Public Attributes
Kernel methods (mrKernelDM, mrKernelDMV)
float	sigma {0.15f}
	The sigma of the "Parzen"-kernel Gaussian. More...

float	cutoffRadius
	The cutoff radius for updating cells. More...

float	R_min {0}
	Limits for normalization of sensor readings. More...

float	R_max {3}

double	dm_sigma_omega {0.05}
	[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) More...

Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate)
float	KF_covSigma {0.35f}
	The "sigma" for the initial covariance value between cells (in meters). More...

float	KF_initialCellStd {1.0}
	The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units). More...

float	KF_observationModelNoise {0}
	The sensor model noise (in normalized concentration units). More...

float	KF_defaultCellMeanValue {0}
	The default value for the mean of cells' concentration. More...

uint16_t	KF_W_size {4}
	[mrKalmanApproximate] The size of the window of neighbor cells. More...

Gaussian Markov Random Fields methods (mrGMRF_SD)
double	GMRF_lambdaPrior {0.01f}
	The information (Lambda) of fixed map constraints. More...

double	GMRF_lambdaObs {10.0f}
	The initial information (Lambda) of each observation (this information will decrease with time) More...

double	GMRF_lambdaObsLoss {0.0f}
	The loss of information of the observations with each iteration. More...

bool	GMRF_use_occupancy_information {false}
	whether to use information of an occupancy_gridmap map for building the GMRF More...

std::string	GMRF_simplemap_file
	simplemap_file name of the occupancy_gridmap More...

std::string	GMRF_gridmap_image_file
	image name of the occupancy_gridmap More...

double	GMRF_gridmap_image_res {0.01f}
	occupancy_gridmap resolution: size of each pixel (m) More...

size_t	GMRF_gridmap_image_cx {0}
	Pixel coordinates of the origin for the occupancy_gridmap. More...

size_t	GMRF_gridmap_image_cy {0}
	Pixel coordinates of the origin for the occupancy_gridmap. More...

double	GMRF_saturate_min
	(Default:-inf,+inf) Saturate the estimated mean in these limits More...

double	GMRF_saturate_max

bool	GMRF_skip_variance {false}
	(Default:false) Skip the computation of the variance, just compute the mean 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

◆ TInsertionOptions()

CHeightGridMap2D_MRF::TInsertionOptions::TInsertionOptions ( )

default

Default values loader.

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 CHeightGridMap2D_MRF::TInsertionOptions::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 266 of file CHeightGridMap2D_MRF.cpp.

References out.

◆ 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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◆ internal_dumpToTextStream_common()

void CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common ( std::ostream & out ) const

inherited

See utils::CLoadableOptions.

Definition at line 688 of file CRandomFieldGridMap2D.cpp.

References mrpt::format(), and out.

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◆ internal_loadFromConfigFile_common()

void CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common	(	const mrpt::config::CConfigFileBase &	source,
		const std::string &	section
	)

inherited

See utils::CLoadableOptions.

Definition at line 745 of file CRandomFieldGridMap2D.cpp.

References iniFile(), and MRPT_LOAD_CONFIG_VAR.

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◆ loadFromConfigFile()

void CHeightGridMap2D_MRF::TInsertionOptions::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 282 of file CHeightGridMap2D_MRF.cpp.

References iniFile().

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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

◆ cutoffRadius

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius

inherited

The cutoff radius for updating cells.

Definition at line 260 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ dm_sigma_omega

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega {0.05}

inherited

[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D)

Definition at line 265 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::computeConfidenceCellValue_DM_DMV(), mrpt::maps::CRandomFieldGridMap2D::computeMeanCellValue_DM_DMV(), and mrpt::maps::CRandomFieldGridMap2D::computeVarCellValue_DM_DMV().

◆ GMRF_gridmap_image_cx

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cx {0}

inherited

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 305 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_cy

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cy {0}

inherited

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 307 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_file

inherited

image name of the occupancy_gridmap

Definition at line 301 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_res

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_res {0.01f}

inherited

occupancy_gridmap resolution: size of each pixel (m)

Definition at line 303 of file CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObs

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObs {10.0f}

inherited

The initial information (Lambda) of each observation (this information will decrease with time)

Definition at line 291 of file CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObsLoss

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObsLoss {0.0f}

inherited

The loss of information of the observations with each iteration.

Definition at line 293 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_lambdaPrior

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaPrior {0.01f}

inherited

The information (Lambda) of fixed map constraints.

Definition at line 288 of file CRandomFieldGridMap2D.h.

◆ GMRF_saturate_max

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max

inherited

Definition at line 310 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_saturate_min

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min

inherited

(Default:-inf,+inf) Saturate the estimated mean in these limits

Definition at line 310 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::getAs3DObject(), mrpt::maps::CRandomFieldGridMap2D::getAsMatrix(), mrpt::maps::CRandomFieldGridMap2D::saveAsMatlab3DGraph(), and mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_simplemap_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_simplemap_file

inherited

simplemap_file name of the occupancy_gridmap

Definition at line 299 of file CRandomFieldGridMap2D.h.

◆ GMRF_skip_variance

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_skip_variance {false}

inherited

(Default:false) Skip the computation of the variance, just compute the mean

Definition at line 313 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_use_occupancy_information

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_use_occupancy_information {false}

inherited

whether to use information of an occupancy_gridmap map for building the GMRF

Definition at line 297 of file CRandomFieldGridMap2D.h.

◆ KF_covSigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma {0.35f}

inherited

The "sigma" for the initial covariance value between cells (in meters).

Definition at line 272 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ KF_defaultCellMeanValue

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue {0}

inherited

The default value for the mean of cells' concentration.

Definition at line 280 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ KF_initialCellStd

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd {1.0}

inherited

The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).

Definition at line 276 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), mrpt::maps::CGasConcentrationGridMap2D::serializeTo(), and mrpt::maps::CGasConcentrationGridMap2D::simulateAdvection().

◆ KF_observationModelNoise

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise {0}

inherited

The sensor model noise (in normalized concentration units).

Definition at line 278 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ KF_W_size

uint16_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size {4}

inherited

[mrKalmanApproximate] The size of the window of neighbor cells.

Definition at line 282 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF2(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ R_max

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max {3}

inherited

Definition at line 262 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ R_min

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min {0}

inherited

Limits for normalization of sensor readings.

Definition at line 262 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::internal_insertObservation(), mrpt::maps::CRandomFieldGridMap2D::predictMeasurement(), mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

◆ sigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma {0.15f}

inherited

The sigma of the "Parzen"-kernel Gaussian.

Definition at line 258 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::serializeFrom(), and mrpt::maps::CGasConcentrationGridMap2D::serializeTo().

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

◆ TInsertionOptions()

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ internal_dumpToTextStream_common()

◆ internal_loadFromConfigFile_common()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ cutoffRadius

◆ dm_sigma_omega

◆ GMRF_gridmap_image_cx

◆ GMRF_gridmap_image_cy

◆ GMRF_gridmap_image_file

◆ GMRF_gridmap_image_res

◆ GMRF_lambdaObs

◆ GMRF_lambdaObsLoss

◆ GMRF_lambdaPrior

◆ GMRF_saturate_max

◆ GMRF_saturate_min

◆ GMRF_simplemap_file

◆ GMRF_skip_variance

◆ GMRF_use_occupancy_information

◆ KF_covSigma

◆ KF_defaultCellMeanValue

◆ KF_initialCellStd

◆ KF_observationModelNoise

◆ KF_W_size

◆ R_max

◆ R_min

◆ sigma