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mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions Struct Reference

Detailed Description

Options for building a CMetricMapBuilderRBPF object, passed to the constructor.

Definition at line 85 of file CMetricMapBuilderRBPF.h.

#include <mrpt/slam/CMetricMapBuilderRBPF.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions:
Inheritance graph

Public Member Functions

 TConstructionOptions ()
 Constructor. 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 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

float insertionLinDistance
 
float insertionAngDistance
 
float localizeLinDistance
 
float localizeAngDistance
 
bayes::CParticleFilter::TParticleFilterOptions PF_options
 
mrpt::maps::TSetOfMetricMapInitializers mapsInitializers
 
mrpt::maps::CMultiMetricMapPDF::TPredictionParams predictionOptions
 
mrpt::system::VerbosityLevel verbosity_level
 

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)
 

Constructor & Destructor Documentation

◆ TConstructionOptions()

CMetricMapBuilderRBPF::TConstructionOptions::TConstructionOptions ( )

Constructor.

Definition at line 522 of file CMetricMapBuilderRBPF.cpp.

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()

void CMetricMapBuilderRBPF::TConstructionOptions::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 537 of file CMetricMapBuilderRBPF.cpp.

References mrpt::format(), mrpt::slam::CMetricMapBuilderRBPF::insertionAngDistance, mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeAngDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeLinDistance, and mrpt::RAD2DEG().

◆ 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.

◆ loadFromConfigFile()

void CMetricMapBuilderRBPF::TConstructionOptions::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 575 of file CMetricMapBuilderRBPF.cpp.

References iniFile(), mrpt::slam::CMetricMapBuilderRBPF::insertionAngDistance, mrpt::slam::CMetricMapBuilderRBPF::insertionLinDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeAngDistance, mrpt::slam::CMetricMapBuilderRBPF::localizeLinDistance, MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOAD_HERE_CONFIG_VAR_DEGREES_NO_DEFAULT, and MRPT_START.

◆ 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().

◆ 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().

Member Data Documentation

◆ insertionAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::insertionAngDistance

Definition at line 97 of file CMetricMapBuilderRBPF.h.

◆ insertionLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::insertionLinDistance

Definition at line 96 of file CMetricMapBuilderRBPF.h.

◆ localizeAngDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::localizeAngDistance

Definition at line 100 of file CMetricMapBuilderRBPF.h.

◆ localizeLinDistance

float mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::localizeLinDistance

Definition at line 99 of file CMetricMapBuilderRBPF.h.

◆ mapsInitializers

mrpt::maps::TSetOfMetricMapInitializers mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::mapsInitializers

Definition at line 104 of file CMetricMapBuilderRBPF.h.

◆ PF_options

bayes::CParticleFilter::TParticleFilterOptions mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::PF_options

Definition at line 102 of file CMetricMapBuilderRBPF.h.

◆ predictionOptions

mrpt::maps::CMultiMetricMapPDF::TPredictionParams mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::predictionOptions

Definition at line 105 of file CMetricMapBuilderRBPF.h.

◆ verbosity_level

mrpt::system::VerbosityLevel mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions::verbosity_level



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