Detailed Description

Some options for this class:

#include <mrpt/slam/CMultiMetricMap.h>

Inheritance diagram for mrpt::slam::CMultiMetricMap::TOptions:

Public Types
enum	TMapSelectionForLikelihood { mapFuseAll = -1, mapGrid = 0, mapPoints, mapLandmarks, mapGasGrid, mapWifiGrid, mapBeacon, mapHeight, mapColourPoints, mapReflectivity, mapWeightedPoints }
	This selects the map to be used when computing the likelihood of an observation. More...
Public Member Functions
	TOptions ()
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
enum mrpt::slam::CMultiMetricMap::TOptions::TMapSelectionForLikelihood	likelihoodMapSelection
bool	enableInsertion_pointsMap
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_landmarksMap
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_gridMaps
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_gasGridMaps
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_wifiGridMaps
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_beaconMap
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_heightMaps
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_reflectivityMaps
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_colourPointsMaps
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_weightedPointsMaps
	Default = true (set to false to avoid "insertObservation" to update a given map)
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)

Member Enumeration Documentation

enum mrpt::slam::CMultiMetricMap::TOptions::TMapSelectionForLikelihood

This selects the map to be used when computing the likelihood of an observation.

This enum has a corresponding mrpt::utils::TEnumType<> specialization.

See also:: computeObservationLikelihood

Enumerator:

mapFuseAll
mapGrid
mapPoints
mapLandmarks
mapGasGrid
mapWifiGrid
mapBeacon
mapHeight
mapColourPoints
mapReflectivity
mapWeightedPoints

Definition at line 140 of file CMultiMetricMap.h.

Constructor & Destructor Documentation

mrpt::slam::CMultiMetricMap::TOptions::TOptions ( ) [inline]

Definition at line 112 of file CMultiMetricMap.h.

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::slam::CMultiMetricMap::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::slam::CMultiMetricMap::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