mrpt::slam::CMetricMapBuilderICP::TConfigParams Struct Reference

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Detailed Description

Algorithm configuration params.

#include <mrpt/slam/CMetricMapBuilderICP.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderICP::TConfigParams:

List of all members.

Public Member Functions
	TConfigParams ()
	Initializer.
virtual void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	This method load the options from a ".ini"-like file or memory-stored string list.
virtual 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
bool	matchAgainstTheGrid
	(default:false) Match against the occupancy grid or the points map? The former is quicker but less precise.
double	insertionLinDistance
	Minimum robot linear (m) displacement for a new observation to be inserted in the map.
double	insertionAngDistance
	Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map.
double	localizationLinDistance
	Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).
double	localizationAngDistance
	Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).
double	minICPgoodnessToAccept
	Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40)
TSetOfMetricMapInitializers	mapInitializers
	What maps to create (at least one points map and/or a grid map are needed).
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)

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Constructor & Destructor Documentation

mrpt::slam::CMetricMapBuilderICP::TConfigParams::TConfigParams

(

)

Initializer.

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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.

virtual void mrpt::slam::CMetricMapBuilderICP::TConfigParams::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]

virtual void mrpt::slam::CMetricMapBuilderICP::TConfigParams::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)		[virtual]

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::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

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Member Data Documentation

double mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionAngDistance

Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map.

Definition at line 73 of file CMetricMapBuilderICP.h.

double mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionLinDistance

Minimum robot linear (m) displacement for a new observation to be inserted in the map.

Definition at line 72 of file CMetricMapBuilderICP.h.

double mrpt::slam::CMetricMapBuilderICP::TConfigParams::localizationAngDistance

Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).

Definition at line 75 of file CMetricMapBuilderICP.h.

double mrpt::slam::CMetricMapBuilderICP::TConfigParams::localizationLinDistance

Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).

Definition at line 74 of file CMetricMapBuilderICP.h.

TSetOfMetricMapInitializers mrpt::slam::CMetricMapBuilderICP::TConfigParams::mapInitializers

What maps to create (at least one points map and/or a grid map are needed).

For the expected format in the .ini file when loaded with loadFromConfigFile(), see documentation of TSetOfMetricMapInitializers.

Definition at line 82 of file CMetricMapBuilderICP.h.

bool mrpt::slam::CMetricMapBuilderICP::TConfigParams::matchAgainstTheGrid

(default:false) Match against the occupancy grid or the points map? The former is quicker but less precise.

Definition at line 70 of file CMetricMapBuilderICP.h.

double mrpt::slam::CMetricMapBuilderICP::TConfigParams::minICPgoodnessToAccept

Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40)

Definition at line 77 of file CMetricMapBuilderICP.h.