struct mrpt::hmtslam::CHMTSLAM::TOptions¶

A variety of options and configuration params (private, use loadOptions).

#include <mrpt/hmtslam/CHMTSLAM.h>

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

    std::string LOG_OUTPUT_DIR;
    int LOG_FREQUENCY;
    TLSlamMethod SLAM_METHOD;
    float SLAM_MIN_DIST_BETWEEN_OBS;
    float SLAM_MIN_HEADING_BETWEEN_OBS;
    float MIN_ODOMETRY_STD_XY;
    float MIN_ODOMETRY_STD_PHI;
    float VIEW3D_AREA_SPHERES_HEIGHT;
    float VIEW3D_AREA_SPHERES_RADIUS;
    mrpt::math::CVectorFloat stds_Q_no_odo;
    mrpt::slam::CIncrementalMapPartitioner::TOptions AA_options;
    mrpt::maps::TSetOfMetricMapInitializers defaultMapsInitializers;
    bayes::CParticleFilter::TParticleFilterOptions pf_options;
    mrpt::slam::TKLDParams KLD_params;
    int random_seed;
    std::vector<std::string> TLC_detectors;
    CTopLCDetector_GridMatching::TOptions TLC_grid_options;
    CTopLCDetector_FabMap::TOptions TLC_fabmap_options;

    //
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¶

std::string LOG_OUTPUT_DIR

[LOGGING] If it is not an empty string (“”), a directory with that name will be created and log files save there.

int LOG_FREQUENCY

[LOGGING] One SLAM iteration out of “LOGGING_logFrequency”, a log file will be generated.

TLSlamMethod SLAM_METHOD

[LSLAM] The method to use for local SLAM

float SLAM_MIN_DIST_BETWEEN_OBS

[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.

float MIN_ODOMETRY_STD_XY

[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)

float MIN_ODOMETRY_STD_PHI

[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)

float VIEW3D_AREA_SPHERES_HEIGHT

[VIEW3D] The height of the areas’ spheres.

float VIEW3D_AREA_SPHERES_RADIUS

[VIEW3D] The radius of the areas’ spheres.

mrpt::math::CVectorFloat 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!)

mrpt::slam::CIncrementalMapPartitioner::TOptions AA_options

[AA] The options for the partitioning algorithm

mrpt::maps::TSetOfMetricMapInitializers defaultMapsInitializers

The default set of maps to be created in each particle.

bayes::CParticleFilter::TParticleFilterOptions pf_options

These params are used from every LMH object.

int random_seed

0 means randomize, use any other value to have repetitive experiments.

std::vector<std::string> TLC_detectors

A list of topological loop-closure detectors to use: can be one or more from this list: ‘gridmaps’: Occupancy Grid matching.

‘fabmap’: Mark Cummins’ image matching framework.

CTopLCDetector_GridMatching::TOptions TLC_grid_options

Options passed to this TLC constructor.

CTopLCDetector_FabMap::TOptions TLC_fabmap_options

Options passed to this TLC constructor.

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,...