struct mrpt::graphslam::optimizers::CLevMarqGSO::OptimizationParams¶

Struct for holding the optimization-related variables in a compact form.

#include <mrpt/graphslam/GSO/CLevMarqGSO.h>

struct OptimizationParams: public mrpt::config::CLoadableOptions
{
    //
fields

    mrpt::containers::yaml cfg;
    bool optimization_on_second_thread;
    double optimization_distance;
    double offset_y_optimization_distance;
    int text_index_optimization_distance;
    mrpt::img::TColor optimization_distance_color;
    std::string keystroke_optimization_distance;
    std::string keystroke_optimize_graph;
    int LC_min_nodeid_diff;
    GRAPH_T::edges_map_t last_pair_nodes_to_edge;

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) const;
};

Inherited Members¶

public:
    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields¶

double optimization_distance

optimize only for the nodes found in a certain distance from the current position.

Optimize for the entire graph if set to1

std::string keystroke_optimization_distance

Keystroke to toggle the optimization distance on/off.

std::string keystroke_optimize_graph

Keystroke to manually trigger a full graph optimization.

Methods¶

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

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,...