Detailed Description

This struct contains data for choosing the method by which new beacons are inserted in the map.

#include <mrpt/slam/CBeaconMap.h>

Inheritance diagram for mrpt::slam::CBeaconMap::TInsertionOptions:

Public Member Functions
	TInsertionOptions ()
	Initilization of default parameters.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.
void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.
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
bool	insertAsMonteCarlo
	Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::slam::CBeacon).
float	maxElevation_deg
	Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.
float	minElevation_deg
unsigned int	MC_numSamplesPerMeter
	Number of particles per meter of range, i.e.
float	MC_maxStdToGauss
	The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).
float	MC_thresholdNegligible
	Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).
bool	MC_performResampling
	If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.
float	MC_afterResamplingNoise
	The std.dev.
float	SOG_thresholdNegligible
	Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).
float	SOG_maxDistBetweenGaussians
	A parameter for initializing 2D/3D SOGs.
float	SOG_separationConstant
	Constant used to compute the std.
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::slam::CBeaconMap::TInsertionOptions::TInsertionOptions ( )

Initilization of default parameters.

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::CBeaconMap::TInsertionOptions::dumpToTextStream ( CStream & out ) const [virtual]

See utils::CLoadableOptions.

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::CBeaconMap::TInsertionOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		`[virtual]`

See utils::CLoadableOptions.

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

bool mrpt::slam::CBeaconMap::TInsertionOptions::insertAsMonteCarlo

Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::slam::CBeacon).

See also:: MC_performResampling

Definition at line 197 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::TInsertionOptions::maxElevation_deg

Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.

Definition at line 201 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::TInsertionOptions::MC_afterResamplingNoise

The std.dev.

of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true.

Definition at line 221 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::TInsertionOptions::MC_maxStdToGauss

The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).

Definition at line 209 of file CBeaconMap.h.

unsigned int mrpt::slam::CBeaconMap::TInsertionOptions::MC_numSamplesPerMeter

Number of particles per meter of range, i.e.

per meter of the "radius of the ring".

Definition at line 205 of file CBeaconMap.h.

bool mrpt::slam::CBeaconMap::TInsertionOptions::MC_performResampling

If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.

Definition at line 217 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::TInsertionOptions::MC_thresholdNegligible

Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).

Definition at line 213 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::TInsertionOptions::minElevation_deg

Definition at line 201 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians

A parameter for initializing 2D/3D SOGs.

Definition at line 229 of file CBeaconMap.h.

float mrpt::slam::CBeaconMap::TInsertionOptions::SOG_separationConstant

Constant used to compute the std.

dev. int the tangent direction when creating the Gaussians.