With this struct options are provided to the observation insertion process.
#include <mrpt/slam/COccupancyGridMap2D.h>
Public Member Functions | |
| TInsertionOptions () | |
| Initilization of default parameters. | |
| void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
| This method load the options from a ".ini" file. | |
| void | dumpToTextStream (CStream &out) const |
| This method must display clearly all the contents of the structure in textual form, sending it to a CStream. | |
| void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
| Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. | |
| virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string §ion) |
| This method saves the options to a ".ini"-like file or memory-stored string list. | |
| void | saveToConfigFileName (const std::string &config_file, const std::string §ion) |
| Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. | |
| void | dumpToConsole () const |
| This method must display clearly all the contents of the structure in textual form, sending it to a CStream. | |
Public Attributes | |
| float | mapAltitude |
| The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map! | |
| bool | useMapAltitude |
| The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true. | |
| float | maxDistanceInsertion |
| The largest distance at which cells will be updated (Default 15 meters) | |
| float | maxOccupancyUpdateCertainty |
| A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8) | |
| bool | considerInvalidRangesAsFreeSpace |
| If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray. | |
| uint16_t | decimation |
| Specify the decimation of the range scan (default=1 : take all the range values!) | |
| float | horizontalTolerance |
| The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0). | |
| float | CFD_features_gaussian_size |
| Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled) | |
| float | CFD_features_median_size |
| Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled) | |
| bool | wideningBeamsWithDistance |
| Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=true) | |
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. | |
| 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) |
| mrpt::slam::COccupancyGridMap2D::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
| void mrpt::utils::CLoadableOptions::dumpToConsole | ( | ) | const [inherited] |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
| void mrpt::slam::COccupancyGridMap2D::TInsertionOptions::dumpToTextStream | ( | CStream & | out | ) | const [virtual] |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Implements mrpt::utils::CLoadableOptions.
| static void mrpt::utils::CLoadableOptions::dumpVar_bool | ( | CStream & | out, |
| const char * | varName, | ||
| bool | v | ||
| ) | [static, protected, inherited] |
| static void mrpt::utils::CLoadableOptions::dumpVar_double | ( | CStream & | out, |
| const char * | varName, | ||
| double | v | ||
| ) | [static, protected, inherited] |
| static void mrpt::utils::CLoadableOptions::dumpVar_float | ( | CStream & | out, |
| const char * | varName, | ||
| float | v | ||
| ) | [static, protected, inherited] |
| static void mrpt::utils::CLoadableOptions::dumpVar_int | ( | CStream & | out, |
| const char * | varName, | ||
| int | v | ||
| ) | [static, protected, inherited] |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
| static void mrpt::utils::CLoadableOptions::dumpVar_string | ( | CStream & | out, |
| const char * | varName, | ||
| const std::string & | v | ||
| ) | [static, protected, inherited] |
| void mrpt::slam::COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
| const std::string & | section | ||
| ) | [virtual] |
This method load the options from a ".ini" file.
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,...
Implements mrpt::utils::CLoadableOptions.
| 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.
| virtual void mrpt::utils::CLoadableOptions::saveToConfigFile | ( | mrpt::utils::CConfigFileBase & | source, |
| const std::string & | section | ||
| ) | [inline, virtual, inherited] |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, and mrpt::vision::TMultiResDescMatchOptions.
Definition at line 87 of file CLoadableOptions.h.
References THROW_EXCEPTION.
| void mrpt::utils::CLoadableOptions::saveToConfigFileName | ( | const std::string & | config_file, |
| const std::string & | section | ||
| ) | [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.
Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled)
Definition at line 568 of file COccupancyGridMap2D.h.
Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled)
Definition at line 571 of file COccupancyGridMap2D.h.
If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray.
Definition at line 558 of file COccupancyGridMap2D.h.
Specify the decimation of the range scan (default=1 : take all the range values!)
Definition at line 562 of file COccupancyGridMap2D.h.
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0).
Definition at line 565 of file COccupancyGridMap2D.h.
The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map!
Definition at line 542 of file COccupancyGridMap2D.h.
The largest distance at which cells will be updated (Default 15 meters)
Definition at line 550 of file COccupancyGridMap2D.h.
A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8)
Definition at line 554 of file COccupancyGridMap2D.h.
The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true.
Definition at line 546 of file COccupancyGridMap2D.h.
Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=true)
Definition at line 573 of file COccupancyGridMap2D.h.
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