Detailed Description

Configuration of the algorithm:

Definition at line 75 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner::TOptions:

Public Member Functions
	TOptions ()
	Sets default values at object creation.

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
float	partitionThreshold
	The partition threshold for bisection in range [0,2], default=1.0.

float	gridResolution
	For the occupancy grid maps of each node, default=0.10.

float	minDistForCorrespondence
	Used in the computation of weights, default=0.20.

float	minMahaDistForCorrespondence
	Used in the computation of weights, default=2.0.

bool	forceBisectionOnly
	If set to true (default), 1 or 2 clusters will be returned.

bool	useMapMatching
	If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.

bool	debugSaveAllEigenvectors
	This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES.

int	minimumNumberElementsEachCluster
	If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).

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::CIncrementalMapPartitioner::TOptions::TOptions ( )

Sets default values at object creation.

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::CIncrementalMapPartitioner::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
	)

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::slam::CIncrementalMapPartitioner::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

bool mrpt::slam::CIncrementalMapPartitioner::TOptions::debugSaveAllEigenvectors

This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES.

Definition at line 117 of file CIncrementalMapPartitioner.h.

bool mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly

If set to true (default), 1 or 2 clusters will be returned.

Default=false -> Autodetermine the number of partitions.

Definition at line 109 of file CIncrementalMapPartitioner.h.

float mrpt::slam::CIncrementalMapPartitioner::TOptions::gridResolution

For the occupancy grid maps of each node, default=0.10.

Definition at line 97 of file CIncrementalMapPartitioner.h.

float mrpt::slam::CIncrementalMapPartitioner::TOptions::minDistForCorrespondence

Used in the computation of weights, default=0.20.

Definition at line 101 of file CIncrementalMapPartitioner.h.

int mrpt::slam::CIncrementalMapPartitioner::TOptions::minimumNumberElementsEachCluster

If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).

Definition at line 120 of file CIncrementalMapPartitioner.h.

float mrpt::slam::CIncrementalMapPartitioner::TOptions::minMahaDistForCorrespondence

Used in the computation of weights, default=2.0.

Definition at line 105 of file CIncrementalMapPartitioner.h.

float mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold

The partition threshold for bisection in range [0,2], default=1.0.

Definition at line 93 of file CIncrementalMapPartitioner.h.

bool mrpt::slam::CIncrementalMapPartitioner::TOptions::useMapMatching

If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.

Definition at line 113 of file CIncrementalMapPartitioner.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation