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mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions Struct Reference

Detailed Description

template<class octree_t, class octree_node_t>
struct mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions

With this struct options are provided to the observation insertion process.

See also
CObservation::insertObservationInto()

Definition at line 73 of file COctoMapBase.h.

#include <mrpt/maps/COctoMapBase.h>

Inheritance diagram for mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions:
Inheritance graph

Public Member Functions

 TInsertionOptions (myself_t &parent)
 Initilization of default parameters. More...
 
 TInsertionOptions ()
 Especial constructor, not attached to a real. More...
 
TInsertionOptionsoperator= (const TInsertionOptions &o)
 COctoMap object: used only in limited situations, since get*() methods don't work, etc. More...
 
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 setOccupancyThres (double prob)
 insertion (default: true) More...
 
void setProbHit (double prob)
 (key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7) More...
 
void setProbMiss (double prob)
 (key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4) More...
 
void setClampingThresMin (double thresProb)
 (key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds) More...
 
void setClampingThresMax (double thresProb)
 (key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds) More...
 
double getOccupancyThres () const
 
float getOccupancyThresLog () const
 
double getProbHit () const
 
float getProbHitLog () const
 
double getProbMiss () const
 
float getProbMissLog () const
 
double getClampingThresMin () const
 
float getClampingThresMinLog () const
 
double getClampingThresMax () const
 
float getClampingThresMaxLog () const
 
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

double maxrange
 maximum range for how long individual beams are More...
 
bool pruning
 inserted (default -1: complete beam) 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)
 

Private Attributes

mrpt::ignored_copy_ptr< myself_tm_parent
 
double occupancyThres
 
double probHit
 
double probMiss
 
double clampingThresMin
 
double clampingThresMax
 

Constructor & Destructor Documentation

◆ TInsertionOptions() [1/2]

template<class octree_t, class octree_node_t>
mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::TInsertionOptions ( myself_t parent)

Initilization of default parameters.

◆ TInsertionOptions() [2/2]

template<class OCTREE , class OCTREE_NODE >
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions ( )

Especial constructor, not attached to a real.

Definition at line 289 of file COctoMapBase_impl.h.

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()

template<class OCTREE , class OCTREE_NODE >
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::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 336 of file COctoMapBase_impl.h.

References mrpt::format(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::getProbMiss(), and LOADABLEOPTS_DUMP_VAR.

◆ 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.

◆ getClampingThresMax()

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax ( ) const
inline

◆ getClampingThresMaxLog()

template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMaxLog ( ) const
inline
Returns
maximum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 203 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getClampingThresMin()

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin ( ) const
inline

◆ getClampingThresMinLog()

template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMinLog ( ) const
inline
Returns
minimum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 188 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getOccupancyThres()

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres ( ) const
inline

◆ getOccupancyThresLog()

template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThresLog ( ) const
inline
Returns
threshold (logodds) for occupancy - sensor model

Definition at line 152 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getProbHit()

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit ( ) const
inline

◆ getProbHitLog()

template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHitLog ( ) const
inline
Returns
probablility for a "hit" in the sensor model (logodds)

Definition at line 166 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ getProbMiss()

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss ( ) const
inline

◆ getProbMissLog()

template<class octree_t, class octree_node_t>
float mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMissLog ( ) const
inline
Returns
probablility for a "miss" in the sensor model (logodds)

Definition at line 176 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

◆ loadFromConfigFile()

template<class OCTREE , class OCTREE_NODE >
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::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 368 of file COctoMapBase_impl.h.

References iniFile(), MRPT_LOAD_CONFIG_VAR, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::setProbMiss().

◆ 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=()

template<class octree_t, class octree_node_t>
TInsertionOptions& mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator= ( const TInsertionOptions o)
inline

COctoMap object: used only in limited situations, since get*() methods don't work, etc.

Definition at line 82 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMax, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMin, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::maxrange, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::occupancyThres, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probHit, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probMiss, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::pruning, mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss().

◆ 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().

◆ setClampingThresMax()

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax ( double  thresProb)
inline

(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds)

Definition at line 138 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ setClampingThresMin()

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin ( double  thresProb)
inline

(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds)

Definition at line 131 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ setOccupancyThres()

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres ( double  prob)
inline

insertion (default: true)

(key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5)

Definition at line 112 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ setProbHit()

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit ( double  prob)
inline

(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7)

Definition at line 118 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ setProbMiss()

template<class octree_t, class octree_node_t>
void mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss ( double  prob)
inline

(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4)

Definition at line 124 of file COctoMapBase.h.

References mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

Member Data Documentation

◆ clampingThresMax

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMax
private

◆ clampingThresMin

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::clampingThresMin
private

◆ m_parent

template<class octree_t, class octree_node_t>
mrpt::ignored_copy_ptr<myself_t> mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::m_parent
private

Definition at line 209 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMaxLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getClampingThresMinLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getOccupancyThresLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbHitLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::getProbMissLog(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::setProbMiss().

◆ maxrange

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::maxrange

maximum range for how long individual beams are

Definition at line 105 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().

◆ occupancyThres

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::occupancyThres
private

◆ probHit

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probHit
private

◆ probMiss

template<class octree_t, class octree_node_t>
double mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::probMiss
private

◆ pruning

template<class octree_t, class octree_node_t>
bool mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::pruning

inserted (default -1: complete beam)

whether the tree is (losslessly) pruned after

Definition at line 107 of file COctoMapBase.h.

Referenced by mrpt::maps::COctoMapBase< octree_t, octree_node_t >::TInsertionOptions::operator=().




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