Configuration of the algorithm:
Definition at line 47 of file CIncrementalMapPartitioner.h.
#include <mrpt/slam/CIncrementalMapPartitioner.h>
Public Member Functions | |
TOptions () | |
void | loadFromConfigFile (const mrpt::utils::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 (mrpt::utils::CStream &out) const override |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream. 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::utils::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 | |
float | partitionThreshold |
The partition threshold for bisection in range [0,2], default=1.0. More... | |
float | gridResolution |
float | minDistForCorrespondence |
float | minMahaDistForCorrespondence |
bool | forceBisectionOnly |
bool | useMapMatching |
If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs. More... | |
int | minimumNumberElementsEachCluster |
If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1). 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) |
CIncrementalMapPartitioner::TOptions::TOptions | ( | ) |
Definition at line 60 of file CIncrementalMapPartitioner.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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overridevirtual |
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 from mrpt::utils::CLoadableOptions.
Definition at line 93 of file CIncrementalMapPartitioner.cpp.
References mrpt::utils::CStream::printf().
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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 74 of file CIncrementalMapPartitioner.cpp.
References MRPT_END, MRPT_LOAD_CONFIG_VAR, and MRPT_START.
Referenced by mrpt::slam::CRangeBearingKFSLAM::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::utils::CLoadableOptions::loadFromConfigFile().
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< 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::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, 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.
References MRPT_UNUSED_PARAM.
Referenced by mrpt::utils::CLoadableOptions::dumpToTextStream(), and mrpt::utils::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 37 of file CLoadableOptions.cpp.
References mrpt::utils::CLoadableOptions::saveToConfigFile().
bool mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly |
Definition at line 83 of file CIncrementalMapPartitioner.h.
Referenced by mrpt::slam::CIncrementalMapPartitioner::updatePartitions().
float mrpt::slam::CIncrementalMapPartitioner::TOptions::gridResolution |
Definition at line 68 of file CIncrementalMapPartitioner.h.
float mrpt::slam::CIncrementalMapPartitioner::TOptions::minDistForCorrespondence |
Definition at line 73 of file CIncrementalMapPartitioner.h.
Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame().
int mrpt::slam::CIncrementalMapPartitioner::TOptions::minimumNumberElementsEachCluster |
If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).
Definition at line 94 of file CIncrementalMapPartitioner.h.
Referenced by mrpt::slam::CIncrementalMapPartitioner::updatePartitions().
float mrpt::slam::CIncrementalMapPartitioner::TOptions::minMahaDistForCorrespondence |
Definition at line 78 of file CIncrementalMapPartitioner.h.
Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame().
float mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold |
The partition threshold for bisection in range [0,2], default=1.0.
Definition at line 63 of file CIncrementalMapPartitioner.h.
Referenced by mrpt::slam::CIncrementalMapPartitioner::updatePartitions().
bool mrpt::slam::CIncrementalMapPartitioner::TOptions::useMapMatching |
If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.
Definition at line 89 of file CIncrementalMapPartitioner.h.
Referenced by mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::slam::CRangeBearingKFSLAM::reset().
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