TKLDParams.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "slam-precomp.h"   // Precompiled headers 

#include <mrpt/utils/CStream.h>
#include <mrpt/utils/CConfigFileBase.h>
#include <mrpt/slam/TKLDParams.h>

using namespace mrpt::slam; 
using namespace mrpt::utils; 

/*---------------------------------------------------------------
                                        TKLDParams
 ---------------------------------------------------------------*/
TKLDParams::TKLDParams() :
        KLD_binSize_XY                  ( 0.2f ),
        KLD_binSize_PHI                 ( DEG2RAD(5) ),
        KLD_delta                               ( 0.01f ),
        KLD_epsilon                             ( 0.02f ),
        KLD_minSampleSize               ( 250 ),
        KLD_maxSampleSize               ( 100000 ),
        KLD_minSamplesPerBin    ( 0 )
{
}


/*---------------------------------------------------------------
                                        dumpToTextStream
  ---------------------------------------------------------------*/
void  TKLDParams::dumpToTextStream(mrpt::utils::CStream &out) const
{
        out.printf("\n----------- [TKLDParams] ------------ \n\n");

        out.printf("KLD_minSampleSize                       = %i\n", KLD_minSampleSize );
        out.printf("KLD_maxSampleSize                       = %i\n", KLD_maxSampleSize );
        out.printf("KLD_binSize_XY                          = %f m\n", KLD_binSize_XY );
        out.printf("KLD_binSize_PHI                         = %f deg\n", RAD2DEG(KLD_binSize_PHI) );
        out.printf("KLD_delta                               = %f\n", KLD_delta);
        out.printf("KLD_epsilon                             = %f\n", KLD_epsilon);
        out.printf("\n");
}

/*---------------------------------------------------------------
                                        loadFromConfigFile
  ---------------------------------------------------------------*/
void  TKLDParams::loadFromConfigFile(
        const mrpt::utils::CConfigFileBase  &iniFile,
        const std::string &section)
{
        MRPT_LOAD_CONFIG_VAR( KLD_minSampleSize, int,   iniFile,section );
        MRPT_LOAD_CONFIG_VAR( KLD_maxSampleSize, int,   iniFile,section );

        MRPT_LOAD_CONFIG_VAR( KLD_binSize_XY, double,   iniFile,section );
        MRPT_LOAD_CONFIG_VAR_DEGREES( KLD_binSize_PHI,  iniFile,section );
        MRPT_LOAD_CONFIG_VAR( KLD_delta, double,   iniFile,section );
        MRPT_LOAD_CONFIG_VAR( KLD_epsilon, double,   iniFile,section );
        MRPT_LOAD_CONFIG_VAR( KLD_minSamplesPerBin, double,   iniFile,section );
        
}