MRPT
1.9.9
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A variety of options and configuration params (private, use loadOptions).
Definition at line 434 of file CHMTSLAM.h.
#include <mrpt/hmtslam/CHMTSLAM.h>
Public Member Functions | |
TOptions () | |
Initialization of default params. More... | |
void | loadFromConfigFile (const mrpt::config::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 (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 §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::config::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 | |
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. More... | |
int | LOG_FREQUENCY |
[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated. More... | |
TLSlamMethod | SLAM_METHOD |
[LSLAM] The method to use for local SLAM More... | |
float | SLAM_MIN_DIST_BETWEEN_OBS |
[LSLAM] Minimum distance (and heading) difference between observations inserted in the map. More... | |
float | SLAM_MIN_HEADING_BETWEEN_OBS |
float | MIN_ODOMETRY_STD_XY |
[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0) More... | |
float | MIN_ODOMETRY_STD_PHI |
[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0) More... | |
float | VIEW3D_AREA_SPHERES_HEIGHT |
[VIEW3D] The height of the areas' spheres. More... | |
float | VIEW3D_AREA_SPHERES_RADIUS |
[VIEW3D] The radius of the areas' spheres. More... | |
mrpt::math::CVectorFloat | stds_Q_no_odo |
A 3-length vector with the std. More... | |
mrpt::slam::CIncrementalMapPartitioner::TOptions | AA_options |
[AA] The options for the partitioning algorithm More... | |
mrpt::maps::TSetOfMetricMapInitializers | defaultMapsInitializers |
The default set of maps to be created in each particle. More... | |
bayes::CParticleFilter::TParticleFilterOptions | pf_options |
These params are used from every LMH object. More... | |
mrpt::slam::TKLDParams | KLD_params |
int | random_seed |
0 means randomize, use any other value to have repetitive experiments. More... | |
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. More... | |
CTopLCDetector_GridMatching::TOptions | TLC_grid_options |
Options passed to this TLC constructor. More... | |
CTopLCDetector_FabMap::TOptions | TLC_fabmap_options |
Options passed to this TLC constructor. 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) |
CHMTSLAM::TOptions::TOptions | ( | ) |
Initialization of default params.
Definition at line 264 of file CHMTSLAM_main.cpp.
References mrpt::DEG2RAD().
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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::config::CLoadableOptions::dumpToTextStream().
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().
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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 332 of file CHMTSLAM_main.cpp.
References mrpt::format(), LOADABLEOPTS_DUMP_VAR, and LOADABLEOPTS_DUMP_VAR_DEG.
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staticprotectedinherited |
Definition at line 63 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Definition at line 57 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Definition at line 51 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
Definition at line 45 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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staticprotectedinherited |
Definition at line 70 of file CLoadableOptions.cpp.
References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.
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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::config::CLoadableOptions.
Definition at line 292 of file CHMTSLAM_main.cpp.
References ASSERT_, mrpt::DEG2RAD(), MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_CONFIG_VAR_CAST_NO_DEFAULT, MRPT_LOAD_CONFIG_VAR_DEGREES, mrpt::RAD2DEG(), and mrpt::system::tokenize().
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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::config::CLoadableOptions::loadFromConfigFile().
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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::maps::TSetOfMetricMapInitializers, 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::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.
References MRPT_UNUSED_PARAM.
Referenced by mrpt::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::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::config::CLoadableOptions::saveToConfigFile().
mrpt::slam::CIncrementalMapPartitioner::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::AA_options |
[AA] The options for the partitioning algorithm
Definition at line 487 of file CHMTSLAM.h.
mrpt::maps::TSetOfMetricMapInitializers mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers |
The default set of maps to be created in each particle.
Definition at line 490 of file CHMTSLAM.h.
mrpt::slam::TKLDParams mrpt::hmtslam::CHMTSLAM::TOptions::KLD_params |
Definition at line 493 of file CHMTSLAM.h.
int mrpt::hmtslam::CHMTSLAM::TOptions::LOG_FREQUENCY |
[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.
Definition at line 451 of file CHMTSLAM.h.
std::string mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR |
[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there.
Definition at line 448 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().
float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_PHI |
[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)
Definition at line 468 of file CHMTSLAM.h.
float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_XY |
[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)
Definition at line 464 of file CHMTSLAM.h.
bayes::CParticleFilter::TParticleFilterOptions mrpt::hmtslam::CHMTSLAM::TOptions::pf_options |
These params are used from every LMH object.
Definition at line 492 of file CHMTSLAM.h.
int mrpt::hmtslam::CHMTSLAM::TOptions::random_seed |
0 means randomize, use any other value to have repetitive experiments.
Definition at line 497 of file CHMTSLAM.h.
TLSlamMethod mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_METHOD |
[LSLAM] The method to use for local SLAM
Definition at line 455 of file CHMTSLAM.h.
float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_DIST_BETWEEN_OBS |
[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.
Definition at line 460 of file CHMTSLAM.h.
float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_HEADING_BETWEEN_OBS |
Definition at line 460 of file CHMTSLAM.h.
mrpt::math::CVectorFloat mrpt::hmtslam::CHMTSLAM::TOptions::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!)
Definition at line 483 of file CHMTSLAM.h.
std::vector<std::string> mrpt::hmtslam::CHMTSLAM::TOptions::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.
Definition at line 504 of file CHMTSLAM.h.
CTopLCDetector_FabMap::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options |
Options passed to this TLC constructor.
Definition at line 509 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CTopLCDetector_FabMap::CTopLCDetector_FabMap().
CTopLCDetector_GridMatching::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_grid_options |
Options passed to this TLC constructor.
Definition at line 507 of file CHMTSLAM.h.
Referenced by mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel().
float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_HEIGHT |
[VIEW3D] The height of the areas' spheres.
Definition at line 472 of file CHMTSLAM.h.
float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_RADIUS |
[VIEW3D] The radius of the areas' spheres.
Definition at line 476 of file CHMTSLAM.h.
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