mrpt::slam::CRangeBearingKFSLAM::TOptions Struct Reference

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Detailed Description

The options for the algorithm.

#include <mrpt/slam/CRangeBearingKFSLAM.h>

Inheritance diagram for mrpt::slam::CRangeBearingKFSLAM::TOptions:

List of all members.

Public Member Functions
	TOptions ()
	Default values.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	Load from a config file/text.
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
vector_float	stds_Q_no_odo
	A 7-length vector with the std.
float	std_sensor_range
	The std.
float	std_sensor_yaw
float	std_sensor_pitch
float	std_odo_z_additional
	Additional std.
bool	doPartitioningExperiment
	If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.
float	quantiles_3D_representation
	Default = 3.
int	partitioningMethod
	Applicable only if "doPartitioningExperiment=true".
TDataAssociationMethod	data_assoc_method
TDataAssociationMetric	data_assoc_metric
double	data_assoc_IC_chi2_thres
	Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)
TDataAssociationMetric	data_assoc_IC_metric
	Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.
double	data_assoc_IC_ml_threshold
	Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)
bool	create_simplemap
	Whether to fill m_SFs (default=false)
bool	force_ignore_odometry
	Whether to ignore the input odometry and behave as if there was no odometry at all (default: false)
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::CRangeBearingKFSLAM::TOptions::TOptions

(

)

Default values.

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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.

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

Load from a config file/text.

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

bool mrpt::slam::CRangeBearingKFSLAM::TOptions::create_simplemap

Whether to fill m_SFs (default=false)

Definition at line 214 of file CRangeBearingKFSLAM.h.

double mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_chi2_thres

Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)

Definition at line 210 of file CRangeBearingKFSLAM.h.

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_metric

Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.

Definition at line 211 of file CRangeBearingKFSLAM.h.

double mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_IC_ml_threshold

Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)

Definition at line 212 of file CRangeBearingKFSLAM.h.

TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_method

Definition at line 208 of file CRangeBearingKFSLAM.h.

TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM::TOptions::data_assoc_metric

Definition at line 209 of file CRangeBearingKFSLAM.h.

bool mrpt::slam::CRangeBearingKFSLAM::TOptions::doPartitioningExperiment

If set to true (default=false), map will be partitioned using the method stated by partitioningMethod.

Definition at line 195 of file CRangeBearingKFSLAM.h.

bool mrpt::slam::CRangeBearingKFSLAM::TOptions::force_ignore_odometry

Whether to ignore the input odometry and behave as if there was no odometry at all (default: false)

Definition at line 216 of file CRangeBearingKFSLAM.h.

int mrpt::slam::CRangeBearingKFSLAM::TOptions::partitioningMethod

Applicable only if "doPartitioningExperiment=true".

0: Automatically detect partition through graph-cut. N>=1: Cut every "N" observations.

Definition at line 205 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::TOptions::quantiles_3D_representation

Default = 3.

Definition at line 199 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_odo_z_additional

Additional std.

dev. to sum to the motion model in the z axis (useful when there is only 2D odometry and we want to put things hard to the algorithm) (default=0)

Definition at line 191 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_pitch

Definition at line 187 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_range

The std.

deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.

Definition at line 187 of file CRangeBearingKFSLAM.h.

float mrpt::slam::CRangeBearingKFSLAM::TOptions::std_sensor_yaw

Definition at line 187 of file CRangeBearingKFSLAM.h.

vector_float mrpt::slam::CRangeBearingKFSLAM::TOptions::stds_Q_no_odo

A 7-length vector with the std.

deviation of the transition model in (x,y,z, qr,qx,qy,qz) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y z: In meters.

Definition at line 183 of file CRangeBearingKFSLAM.h.