struct mrpt::maps::CHeightGridMap2D_MRF::TInsertionOptions

Overview

Parameters related with inserting observations into the map.

#include <mrpt/maps/CHeightGridMap2D_MRF.h>

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

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,...