Detailed Description

A variety of options and configuration params (private, use loadOptions).

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CHMTSLAM::TOptions:

Public Member Functions
	TOptions ()
	Initialization of default params.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	Load parameters from configuration source.
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 &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.
virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string &section)
	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 &section)
	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
std::string	LOG_OUTPUT_DIR
	[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there.
int	LOG_FREQUENCY
	[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.
TLSlamMethod	SLAM_METHOD
	[LSLAM] The method to use for local SLAM
float	SLAM_MIN_DIST_BETWEEN_OBS
	[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.
float	SLAM_MIN_HEADING_BETWEEN_OBS
float	MIN_ODOMETRY_STD_XY
	[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)
float	MIN_ODOMETRY_STD_PHI
	[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)
float	VIEW3D_AREA_SPHERES_HEIGHT
	[VIEW3D] The height of the areas' spheres.
float	VIEW3D_AREA_SPHERES_RADIUS
	[VIEW3D] The radius of the areas' spheres.
vector_float	stds_Q_no_odo
	A 3-length vector with the std.
CIncrementalMapPartitioner::TOptions	AA_options
	[AA] The options for the partitioning algorithm
TSetOfMetricMapInitializers	defaultMapsInitializers
	The default set of maps to be created in each particle.
CMultiMetricMap::TOptions	defaultMapsOptions
	The default options for the CMultiMetricMap in each particle.
bayes::CParticleFilter::TParticleFilterOptions	pf_options
	These params are used from every LMH object.
TKLDParams	KLD_params
int	random_seed
	0 means randomize, use any other value to have repetitive experiments.
vector_string	TLC_detectors
	A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching.
CTopLCDetector_GridMatching::TOptions	TLC_grid_options
	Options passed to this TLC constructor.
CTopLCDetector_FabMap::TOptions	TLC_fabmap_options
	Options passed to this TLC constructor.
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)

Constructor & Destructor Documentation

mrpt::hmtslam::CHMTSLAM::TOptions::TOptions ( )

Initialization of default params.

Member Function Documentation

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::hmtslam::CHMTSLAM::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.

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::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		`[virtual]`

Load parameters from configuration source.

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.

See also:: loadFromConfigFile

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.

See also:: loadFromConfigFile, saveToConfigFileName

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.

See also:: saveToConfigFile, loadFromConfigFileName

Member Data Documentation

CIncrementalMapPartitioner::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::AA_options

[AA] The options for the partitioning algorithm

Definition at line 478 of file CHMTSLAM.h.

TSetOfMetricMapInitializers mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers

The default set of maps to be created in each particle.

Definition at line 480 of file CHMTSLAM.h.

CMultiMetricMap::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsOptions

The default options for the CMultiMetricMap in each particle.

Definition at line 482 of file CHMTSLAM.h.

TKLDParams mrpt::hmtslam::CHMTSLAM::TOptions::KLD_params

Definition at line 486 of file CHMTSLAM.h.

int mrpt::hmtslam::CHMTSLAM::TOptions::LOG_FREQUENCY

[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.

Definition at line 448 of file CHMTSLAM.h.

std::string mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR

[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there.

Definition at line 447 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_PHI

[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)

Definition at line 462 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_XY

[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)

Definition at line 459 of file CHMTSLAM.h.

bayes::CParticleFilter::TParticleFilterOptions mrpt::hmtslam::CHMTSLAM::TOptions::pf_options

These params are used from every LMH object.

Definition at line 484 of file CHMTSLAM.h.

int mrpt::hmtslam::CHMTSLAM::TOptions::random_seed

0 means randomize, use any other value to have repetitive experiments.

Definition at line 488 of file CHMTSLAM.h.

TLSlamMethod mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_METHOD

[LSLAM] The method to use for local SLAM

Definition at line 452 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_DIST_BETWEEN_OBS

[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.

Definition at line 456 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_HEADING_BETWEEN_OBS

Definition at line 456 of file CHMTSLAM.h.

vector_float mrpt::hmtslam::CHMTSLAM::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 474 of file CHMTSLAM.h.

vector_string mrpt::hmtslam::CHMTSLAM::TOptions::TLC_detectors

A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching.

'fabmap': Mark Cummins' image matching framework.

Definition at line 494 of file CHMTSLAM.h.

CTopLCDetector_FabMap::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options

Options passed to this TLC constructor.

Definition at line 497 of file CHMTSLAM.h.

CTopLCDetector_GridMatching::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_grid_options

Options passed to this TLC constructor.

Definition at line 496 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_HEIGHT