Definition at line 202 of file CAbstractNavigator.h.
#include <mrpt/nav/reactive/CAbstractNavigator.h>
Public Member Functions | |
virtual void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &c, const std::string &s) override |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &c, const std::string &s) const override |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
TAbstractNavigatorParams () | |
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... | |
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... | |
virtual void | dumpToTextStream (mrpt::utils::CStream &out) const |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More... | |
Public Attributes | |
double | dist_to_target_for_sending_event |
Default value=0, means use the "targetAllowedDistance" passed by the user in the navigation request. More... | |
double | alarm_seems_not_approaching_target_timeout |
navigator timeout (seconds) [Default=30 sec] More... | |
double | dist_check_target_is_blocked |
(Default value=0.6) When closer than this distance, check if the target is blocked to abort navigation with an error. More... | |
int | hysteresis_check_target_is_blocked |
(Default=3) How many steps should the condition for dist_check_target_is_blocked be fulfilled to raise an event More... | |
Static Protected Member Functions | |
static void | dumpVar_int (CStream &out, const char *varName, int v) |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More... | |
static void | dumpVar_float (CStream &out, const char *varName, float v) |
static void | dumpVar_double (CStream &out, const char *varName, double v) |
static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
CAbstractNavigator::TAbstractNavigatorParams::TAbstractNavigatorParams | ( | ) |
Definition at line 427 of file CAbstractNavigator.cpp.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Definition at line 44 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::dumpToTextStream(), and loadable_opts_my_cout.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams().
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virtualinherited |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions, mrpt::maps::COccupancyGridMap2D::TInsertionOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams, mrpt::vision::TMatchingOptions, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams, mrpt::hmtslam::CHMTSLAM::TOptions, mrpt::maps::CLandmarksMap::TLikelihoodOptions, mrpt::maps::TSetOfMetricMapInitializers, mrpt::maps::CPointsMap::TLikelihoodOptions, mrpt::maps::CColouredPointsMap::TColourOptions, mrpt::vision::TStereoSystemParams, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions, mrpt::maps::CLandmarksMap::TInsertionOptions, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::GraphVisualizationParams, mrpt::maps::CPointsMap::TInsertionOptions, mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::TParams, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::TParams, mrpt::graphslam::deciders::CRangeScanOps< GRAPH_T >::TParams, mrpt::maps::CBeaconMap::TInsertionOptions, mrpt::maps::CRandomFieldGridMap3D::TInsertionOptions, mrpt::graphslam::deciders::CFixedIntervalsNRD< GRAPH_T >::TParams, mrpt::maps::CMultiMetricMapPDF::TPredictionParams, mrpt::maps::CBeaconMap::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions, mrpt::maps::CHeightGridMap2D::TInsertionOptions, mrpt::maps::TMapGenericParams, mrpt::vision::CFeatureExtraction::TOptions, mrpt::graphslam::deciders::CIncrementalNodeRegistrationDecider< GRAPH_T >::TParams, mrpt::bayes::TKF_options, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::graphslam::TSlidingWindow, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::slam::CICP::TConfigParams, mrpt::maps::CReflectivityGridMap2D::TInsertionOptions, mrpt::graphslam::TUncertaintyPath< GRAPH_T >, mrpt::hmtslam::CTopLCDetector_GridMatching::TOptions, mrpt::hmtslam::CTopLCDetector_FabMap::TOptions, mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions, mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::TMetricMapInitializer, mrpt::slam::CMetricMapBuilderICP::TConfigParams, mrpt::vision::CCamModel, and mrpt::slam::TKLDParams.
Definition at line 83 of file CLoadableOptions.cpp.
References mrpt::utils::CConfigFileMemory::getContent(), mrpt::utils::CStream::printf(), and mrpt::utils::CLoadableOptions::saveToConfigFile().
Referenced by mrpt::utils::CLoadableOptions::dumpToConsole().
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staticprotectedinherited |
Definition at line 65 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 59 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 54 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
Definition at line 49 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
Definition at line 71 of file CLoadableOptions.cpp.
References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().
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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::utils::CLoadableOptions.
Definition at line 434 of file CAbstractNavigator.cpp.
References MRPT_LOAD_CONFIG_VAR_CS.
Referenced by mrpt::nav::CAbstractNavigator::loadConfigFile().
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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::utils::CLoadableOptions::loadFromConfigFile().
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().
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overridevirtual |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented from mrpt::utils::CLoadableOptions.
Definition at line 442 of file CAbstractNavigator.cpp.
References MRPT_SAVE_CONFIG_VAR_COMMENT.
Referenced by mrpt::nav::CAbstractNavigator::saveConfigFile().
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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 37 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::saveToConfigFile().
double mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::alarm_seems_not_approaching_target_timeout |
navigator timeout (seconds) [Default=30 sec]
Definition at line 208 of file CAbstractNavigator.h.
double mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_check_target_is_blocked |
(Default value=0.6) When closer than this distance, check if the target is blocked to abort navigation with an error.
Definition at line 211 of file CAbstractNavigator.h.
Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().
double mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::dist_to_target_for_sending_event |
Default value=0, means use the "targetAllowedDistance" passed by the user in the navigation request.
Definition at line 206 of file CAbstractNavigator.h.
Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().
int mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams::hysteresis_check_target_is_blocked |
(Default=3) How many steps should the condition for dist_check_target_is_blocked be fulfilled to raise an event
Definition at line 214 of file CAbstractNavigator.h.
Referenced by mrpt::nav::CAbstractNavigator::performNavigationStepNavigating().
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