struct mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions

Overview

Parameters related with inserting observations into the map:

#include <mrpt/maps/CGasConcentrationGridMap2D.h>

struct TInsertionOptions:
    public mrpt::config::CLoadableOptions,
    public mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon
{
    // fields

    std::string gasSensorLabel;
    uint16_t enose_id {0};
    uint16_t gasSensorType {0x0000};
    std::string windSensorLabel;
    bool useWindInformation {false};
    float advectionFreq;
    float std_windNoise_phi {0.2f};
    float std_windNoise_mod {0.2f};
    float default_wind_direction {0.0f};
    float default_wind_speed {1.0f};

    // construction

    TInsertionOptions();

    // methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) const;
};

Inherited Members

public:
    // fields

    float sigma {0.15f};
    float cutoffRadius;
    float R_min {0};
    float R_max {3};
    double dm_sigma_omega {0.05};
    float KF_covSigma {0.35f};
    float KF_initialCellStd {1.0};
    float KF_observationModelNoise {0};
    float KF_defaultCellMeanValue {0};
    uint16_t KF_W_size {4};
    double GMRF_lambdaPrior {0.01f};
    double GMRF_lambdaObs {10.0f};
    double GMRF_lambdaObsLoss {0.0f};
    bool GMRF_use_occupancy_information {false};
    std::string GMRF_simplemap_file;
    std::string GMRF_gridmap_image_file;
    float GMRF_gridmap_image_res {0.01f};
    size_t GMRF_gridmap_image_cx {0};
    size_t GMRF_gridmap_image_cy {0};
    double GMRF_saturate_min;
    double GMRF_saturate_max;
    bool GMRF_skip_variance {false};

    // methods

    CLoadableOptions& operator = (const CLoadableOptions&);
    CLoadableOptions& operator = (CLoadableOptions&&);
    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;
    void internal_loadFromConfigFile_common(const mrpt::config::CConfigFileBase& source, const std::string& section);
    void internal_dumpToTextStream_common(std::ostream& out) const;

Fields

std::string gasSensorLabel

The label of the CObservationGasSensor used to generate the map.

uint16_t enose_id {0}

id for the enose used to generate this map (must be < gasGrid_count)

uint16_t gasSensorType {0x0000}

The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, …)

std::string windSensorLabel

The label of the WindSenor used to simulate advection.

float advectionFreq

Indicates if wind information must be used.

to simulate Advection

float std_windNoise_phi {0.2f}

Frequency for simulating advection (only used.

to transform wind speed to distance)

float default_wind_direction {0.0f}

The std to consider on.

wind information measurements

Construction

TInsertionOptions()

Default values loader.

Methods

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

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,...