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mrpt::hmtslam::CHMTSLAM::TOptions Struct Referenceabstract

Detailed Description

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

Definition at line 430 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CHMTSLAM::TOptions:
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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.
 
virtual void dumpToTextStream (CStream &out) const =0
 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.

virtual void mrpt::utils::CLoadableOptions::dumpToTextStream ( CStream &  out) const
pure virtualinherited

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Implemented in mrpt::slam::TSetOfMetricMapInitializers, mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions, mrpt::slam::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::slam::CLandmarksMap::TLikelihoodOptions, mrpt::slam::CColouredPointsMap::TColourOptions, mrpt::slam::CLandmarksMap::TInsertionOptions, mrpt::slam::CPointsMap::TLikelihoodOptions, mrpt::slam::CBeaconMap::TInsertionOptions, mrpt::slam::CPointsMap::TInsertionOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::slam::CBeaconMap::TLikelihoodOptions, mrpt::slam::CHeightGridMap2D::TInsertionOptions, mrpt::slam::CMultiMetricMapPDF::TPredictionParams, mrpt::slam::CMultiMetricMap::TOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::slam::CReflectivityGridMap2D::TInsertionOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::slam::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CMetricMapBuilderICP::TConfigParams, and mrpt::slam::TKLDParams.

void mrpt::hmtslam::CHMTSLAM::TOptions::dumpToTextStream ( CStream &  out) const

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream &  out,
const char *  varName,
bool  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream &  out,
const char *  varName,
double  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream &  out,
const char *  varName,
float  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream &  out,
const char *  varName,
int  v 
)
staticprotectedinherited

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 
)
staticprotectedinherited
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 
)
inlinevirtualinherited

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

[VIEW3D] The height of the areas' spheres.

Definition at line 466 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_RADIUS

[VIEW3D] The radius of the areas' spheres.

Definition at line 470 of file CHMTSLAM.h.



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