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mrpt::slam::CRangeBearingKFSLAM2D::TOptions Struct Reference

Detailed Description

The options for the algorithm.

Definition at line 127 of file CRangeBearingKFSLAM2D.h.

#include <mrpt/slam/CRangeBearingKFSLAM2D.h>

Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM2D::TOptions:
Inheritance graph
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Public Member Functions

 TOptions ()
 Default values. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 Load from a config file/text. More...
 
void dumpToTextStream (CStream &out) const
 This method must display clearly all the contents of the structure in textual form, sending it to a CStream. 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::utils::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

vector_float stds_Q_no_odo
 A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!) More...
 
float std_sensor_range
 
float std_sensor_yaw
 The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians. More...
 
float quantiles_3D_representation
 Default = 3. More...
 
bool create_simplemap
 Whether to fill m_SFs (default=false) More...
 
TDataAssociationMethod data_assoc_method
 
TDataAssociationMetric data_assoc_metric
 
double data_assoc_IC_chi2_thres
 Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99) More...
 
TDataAssociationMetric data_assoc_IC_metric
 Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood. More...
 
double data_assoc_IC_ml_threshold
 Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) More...
 

Static Protected Member Functions

static void dumpVar_int (CStream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (CStream &out, const char *varName, float v)
 
static void dumpVar_double (CStream &out, const char *varName, double v)
 
static void dumpVar_bool (CStream &out, const char *varName, bool v)
 
static void dumpVar_string (CStream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

◆ TOptions()

mrpt::slam::CRangeBearingKFSLAM2D::TOptions::TOptions ( )

Default values.

Member Function Documentation

◆ dumpToConsole()

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

◆ dumpToTextStream()

void mrpt::slam::CRangeBearingKFSLAM2D::TOptions::dumpToTextStream ( CStream out) const
virtual

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Reimplemented from mrpt::utils::CLoadableOptions.

◆ dumpVar_bool()

static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited

◆ dumpVar_double()

static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited

◆ dumpVar_float()

static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited

◆ dumpVar_int()

static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

◆ dumpVar_string()

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited

◆ loadFromConfigFile()

void mrpt::slam::CRangeBearingKFSLAM2D::TOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual

Load from a config file/text.

Implements mrpt::utils::CLoadableOptions.

◆ loadFromConfigFileName()

void mrpt::utils::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

◆ saveToConfigFile()

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string &  section 
) const
inlinevirtualinherited

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

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters.

Definition at line 94 of file CLoadableOptions.h.

References THROW_EXCEPTION.

◆ saveToConfigFileName()

void mrpt::utils::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

Member Data Documentation

◆ create_simplemap

bool mrpt::slam::CRangeBearingKFSLAM2D::TOptions::create_simplemap

Whether to fill m_SFs (default=false)

Definition at line 147 of file CRangeBearingKFSLAM2D.h.

◆ data_assoc_IC_chi2_thres

double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_chi2_thres

Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)

Definition at line 152 of file CRangeBearingKFSLAM2D.h.

◆ data_assoc_IC_metric

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_metric

Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.

Definition at line 153 of file CRangeBearingKFSLAM2D.h.

◆ data_assoc_IC_ml_threshold

double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_ml_threshold

Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)

Definition at line 154 of file CRangeBearingKFSLAM2D.h.

◆ data_assoc_method

TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_method

Definition at line 150 of file CRangeBearingKFSLAM2D.h.

◆ data_assoc_metric

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_metric

Definition at line 151 of file CRangeBearingKFSLAM2D.h.

◆ quantiles_3D_representation

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::quantiles_3D_representation

Default = 3.

Definition at line 146 of file CRangeBearingKFSLAM2D.h.

◆ std_sensor_range

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_range

Definition at line 145 of file CRangeBearingKFSLAM2D.h.

◆ std_sensor_yaw

float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_yaw

The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.

Definition at line 145 of file CRangeBearingKFSLAM2D.h.

◆ stds_Q_no_odo

vector_float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::stds_Q_no_odo

A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)

Definition at line 144 of file CRangeBearingKFSLAM2D.h.




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