MRPT  1.9.9
mrpt::slam::CMetricMapBuilderICP::TConfigParams Struct Reference

Detailed Description

Algorithm configuration params.

Definition at line 39 of file CMetricMapBuilderICP.h.

#include <mrpt/slam/CMetricMapBuilderICP.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderICP::TConfigParams:
Inheritance graph

Public Member Functions

 TConfigParams (mrpt::system::VerbosityLevel &parent_verbosity_level)
 Initializer. More...
 
TConfigParamsoperator= (const TConfigParams &other)
 
void loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) 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 &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 matchAgainstTheGrid
 (default:false) Match against the occupancy grid or the points map? The former is quicker but less precise. More...
 
double insertionLinDistance
 Minimum robot linear (m) displacement for a new observation to be inserted in the map. More...
 
double insertionAngDistance
 Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map. More...
 
double localizationLinDistance
 Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry). More...
 
double localizationAngDistance
 Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry). More...
 
double minICPgoodnessToAccept
 Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40) More...
 
mrpt::system::VerbosityLevelverbosity_level
 
mrpt::maps::TSetOfMetricMapInitializers mapInitializers
 What maps to create (at least one points map and/or a grid map are needed). 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)
 

Constructor & Destructor Documentation

◆ TConfigParams()

CMetricMapBuilderICP::TConfigParams::TConfigParams ( mrpt::system::VerbosityLevel parent_verbosity_level)

Initializer.

Definition at line 53 of file CMetricMapBuilderICP.cpp.

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 CMetricMapBuilderICP::TConfigParams::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 97 of file CMetricMapBuilderICP.cpp.

References mrpt::format(), and mrpt::RAD2DEG().

◆ 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 CMetricMapBuilderICP::TConfigParams::loadFromConfigFile ( const mrpt::config::CConfigFileBase source,
const std::string section 
)
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:

[section]
resolution = 0.10 // blah blah...
modeSelection = 1 // 0=blah, 1=blah,...
See also
loadFromConfigFileName, saveToConfigFile

Implements mrpt::config::CLoadableOptions.

Definition at line 81 of file CMetricMapBuilderICP.cpp.

References MRPT_LOAD_CONFIG_VAR, and MRPT_LOAD_CONFIG_VAR_DEGREES.

◆ 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().

◆ operator=()

◆ 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

◆ insertionAngDistance

double mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionAngDistance

Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map.

Definition at line 60 of file CMetricMapBuilderICP.h.

Referenced by operator=(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ insertionLinDistance

double mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionLinDistance

Minimum robot linear (m) displacement for a new observation to be inserted in the map.

Definition at line 57 of file CMetricMapBuilderICP.h.

Referenced by operator=(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ localizationAngDistance

double mrpt::slam::CMetricMapBuilderICP::TConfigParams::localizationAngDistance

Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).

Definition at line 68 of file CMetricMapBuilderICP.h.

Referenced by operator=(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ localizationLinDistance

double mrpt::slam::CMetricMapBuilderICP::TConfigParams::localizationLinDistance

Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).

Definition at line 64 of file CMetricMapBuilderICP.h.

Referenced by operator=(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ mapInitializers

mrpt::maps::TSetOfMetricMapInitializers mrpt::slam::CMetricMapBuilderICP::TConfigParams::mapInitializers

What maps to create (at least one points map and/or a grid map are needed).

For the expected format in the .ini file when loaded with loadFromConfigFile(), see documentation of TSetOfMetricMapInitializers.

Definition at line 82 of file CMetricMapBuilderICP.h.

Referenced by mrpt::slam::CMetricMapBuilderICP::initialize(), and operator=().

◆ matchAgainstTheGrid

bool mrpt::slam::CMetricMapBuilderICP::TConfigParams::matchAgainstTheGrid

(default:false) Match against the occupancy grid or the points map? The former is quicker but less precise.

Definition at line 53 of file CMetricMapBuilderICP.h.

Referenced by operator=(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ minICPgoodnessToAccept

double mrpt::slam::CMetricMapBuilderICP::TConfigParams::minICPgoodnessToAccept

Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40)

Definition at line 72 of file CMetricMapBuilderICP.h.

Referenced by operator=(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ verbosity_level

mrpt::system::VerbosityLevel& mrpt::slam::CMetricMapBuilderICP::TConfigParams::verbosity_level

Definition at line 74 of file CMetricMapBuilderICP.h.




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