Detailed Description

This struct contains data for choosing the method by which new beacons are inserted in the map.

Definition at line 129 of file CBeaconMap.h.

#include <mrpt/maps/CBeaconMap.h>

Inheritance diagram for mrpt::maps::CBeaconMap::TInsertionOptions:

Public Member Functions
void	loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
	Initilization of default parameters. 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 &section)
	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 &section) 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 &section) 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
bool	insertAsMonteCarlo {true}
	Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon). More...

double	maxElevation_deg {0}
	Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90. More...

double	minElevation_deg {0}

unsigned int	MC_numSamplesPerMeter {1000}
	Number of particles per meter of range, i.e. More...

float	MC_maxStdToGauss = {0.4f}
	The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0.4). More...

double	MC_thresholdNegligible {5}
	Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5). More...

bool	MC_performResampling {false}
	If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion. More...

float	MC_afterResamplingNoise {0.01f}
	The std.dev. More...

float	SOG_thresholdNegligible {20.0f}
	Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20). More...

float	SOG_maxDistBetweenGaussians {1.0f}
	A parameter for initializing 2D/3D SOGs. More...

float	SOG_separationConstant {3.0f}
	Constant used to compute the std. 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)

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const

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().

◆ dumpToTextStream()

void CBeaconMap::TInsertionOptions::dumpToTextStream ( std::ostream & out ) const

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 980 of file CBeaconMap.cpp.

References mrpt::format().

◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool	(	std::ostream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

Definition at line 63 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_double()

void CLoadableOptions::dumpVar_double	(	std::ostream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

Definition at line 57 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_float()

void CLoadableOptions::dumpVar_float	(	std::ostream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

Definition at line 51 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ dumpVar_int()

void CLoadableOptions::dumpVar_int	(	std::ostream &	out,
		const char *	varName,
		int	v
	)

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.

◆ dumpVar_string()

void CLoadableOptions::dumpVar_string	(	std::ostream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

Definition at line 70 of file CLoadableOptions.cpp.

References mrpt::format(), and LOADABLEOPTS_COLUMN_WIDTH.

◆ loadFromConfigFile()

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

overridevirtual

Initilization of default parameters.

Implements mrpt::config::CLoadableOptions.

Definition at line 1022 of file CBeaconMap.cpp.

References iniFile(), and MRPT_LOAD_CONFIG_VAR.

◆ loadFromConfigFileName()

void CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

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.

See also: loadFromConfigFile

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile	(	mrpt::config::CConfigFileBase &	target,
		const std::string &	section
	)		const

virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also: loadFromConfigFile, saveToConfigFileName

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().

◆ saveToConfigFileName()

void CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)		const

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.

See also: saveToConfigFile, loadFromConfigFileName

Definition at line 37 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

Member Data Documentation

◆ insertAsMonteCarlo

bool mrpt::maps::CBeaconMap::TInsertionOptions::insertAsMonteCarlo {true}

Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon).

See also: MC_performResampling

Definition at line 143 of file CBeaconMap.h.

◆ maxElevation_deg

double mrpt::maps::CBeaconMap::TInsertionOptions::maxElevation_deg {0}

Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.

Definition at line 150 of file CBeaconMap.h.

Referenced by mrpt::maps::CBeacon::generateRingSOG().

◆ MC_afterResamplingNoise

float mrpt::maps::CBeaconMap::TInsertionOptions::MC_afterResamplingNoise {0.01f}

The std.dev.

of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true.

Definition at line 178 of file CBeaconMap.h.

◆ MC_maxStdToGauss

float mrpt::maps::CBeaconMap::TInsertionOptions::MC_maxStdToGauss = {0.4f}

The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0.4).

Definition at line 160 of file CBeaconMap.h.

◆ MC_numSamplesPerMeter

unsigned int mrpt::maps::CBeaconMap::TInsertionOptions::MC_numSamplesPerMeter {1000}

Number of particles per meter of range, i.e.

per meter of the "radius of the ring".

Definition at line 155 of file CBeaconMap.h.

◆ MC_performResampling

bool mrpt::maps::CBeaconMap::TInsertionOptions::MC_performResampling {false}

If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.

Definition at line 173 of file CBeaconMap.h.

◆ MC_thresholdNegligible

double mrpt::maps::CBeaconMap::TInsertionOptions::MC_thresholdNegligible {5}

Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).

Definition at line 165 of file CBeaconMap.h.

◆ minElevation_deg

double mrpt::maps::CBeaconMap::TInsertionOptions::minElevation_deg {0}

Definition at line 150 of file CBeaconMap.h.

Referenced by mrpt::maps::CBeacon::generateRingSOG().

◆ SOG_maxDistBetweenGaussians

float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians {1.0f}

A parameter for initializing 2D/3D SOGs.

Definition at line 187 of file CBeaconMap.h.

Referenced by mrpt::maps::CBeacon::generateRingSOG().

◆ SOG_separationConstant

float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_separationConstant {3.0f}

Constant used to compute the std.

dev. int the tangent direction when creating the Gaussians.

Definition at line 192 of file CBeaconMap.h.

Referenced by mrpt::maps::CBeacon::generateRingSOG().

◆ SOG_thresholdNegligible

float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_thresholdNegligible {20.0f}

Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).

Definition at line 183 of file CBeaconMap.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Member Function Documentation

◆ dumpToConsole()

◆ dumpToTextStream()

◆ dumpVar_bool()

◆ dumpVar_double()

◆ dumpVar_float()

◆ dumpVar_int()

◆ dumpVar_string()

◆ loadFromConfigFile()

◆ loadFromConfigFileName()

◆ saveToConfigFile()

◆ saveToConfigFileName()

Member Data Documentation

◆ insertAsMonteCarlo

◆ maxElevation_deg

◆ MC_afterResamplingNoise

◆ MC_maxStdToGauss

◆ MC_numSamplesPerMeter

◆ MC_performResampling

◆ MC_thresholdNegligible

◆ minElevation_deg

◆ SOG_maxDistBetweenGaussians

◆ SOG_separationConstant

◆ SOG_thresholdNegligible