Detailed Description

With this struct options are provided to the observation likelihood computation process.

Definition at line 597 of file COccupancyGridMap2D.h.

#include <mrpt/slam/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions:

Public Member Functions
	TLikelihoodOptions ()
	Initilization of default parameters.

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	This method load the options from a ".ini" file.

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
TLikelihoodMethod	likelihoodMethod
	The selected method to compute an observation likelihood.

float	LF_stdHit
	[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35

float	LF_zHit
	[LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5

float	LF_zRandom

float	LF_maxRange
	[LikelihoodField] The max.

uint32_t	LF_decimation
	[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation.

float	LF_maxCorrsDistance
	[LikelihoodField] The max.

bool	LF_alternateAverageMethod
	[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product".

float	MI_exponent
	[MI] The exponent in the MI likelihood computation.

uint32_t	MI_skip_rays
	[MI] The scan rays decimation: at every N rays, one will be used to compute the MI:

float	MI_ratio_max_distance
	[MI] The ratio for the max.

bool	rayTracing_useDistanceFilter
	[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.

int32_t	rayTracing_decimation
	[rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges.

float	rayTracing_stdHit
	[rayTracing] The laser range sigma.

int32_t	consensus_takeEachRange
	[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)

float	consensus_pow
	[Consensus] The power factor for the likelihood (default=5)

std::vector< float >	OWA_weights
	[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse.

bool	enableLikelihoodCache
	Enables the usage of a cache of likelihood values (for LF methods), if set to true (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)

Constructor & Destructor Documentation

mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::TLikelihoodOptions ( )

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::COccupancyGridMap2D::TLikelihoodOptions::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::COccupancyGridMap2D::TLikelihoodOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

virtual

This method load the options from a ".ini" file.

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,...

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

float mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::consensus_pow

[Consensus] The power factor for the likelihood (default=5)

Definition at line 681 of file COccupancyGridMap2D.h.

int32_t mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::consensus_takeEachRange

[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)

Definition at line 677 of file COccupancyGridMap2D.h.

bool mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::enableLikelihoodCache

Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).

Definition at line 689 of file COccupancyGridMap2D.h.

bool mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::LF_alternateAverageMethod

[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product".

Definition at line 649 of file COccupancyGridMap2D.h.

uint32_t mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::LF_decimation

[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation.

Definition at line 641 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::LF_maxCorrsDistance

[LikelihoodField] The max.

distance for searching correspondences around each sensed point

Definition at line 645 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::LF_maxRange

[LikelihoodField] The max.

range of the sensor (def=81meters)

Definition at line 637 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::LF_stdHit

[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35

Definition at line 629 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::LF_zHit

[LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5

Definition at line 633 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::LF_zRandom

Definition at line 633 of file COccupancyGridMap2D.h.

TLikelihoodMethod mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::likelihoodMethod

The selected method to compute an observation likelihood.

Definition at line 625 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::MI_exponent

[MI] The exponent in the MI likelihood computation.

Default value = 5

Definition at line 653 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::MI_ratio_max_distance

[MI] The ratio for the max.

distance used in the MI computation and in the insertion of scans, e.g. if set to 2.0 the MI will use twice the distance that the update distance.

Definition at line 661 of file COccupancyGridMap2D.h.

uint32_t mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::MI_skip_rays

[MI] The scan rays decimation: at every N rays, one will be used to compute the MI:

Definition at line 657 of file COccupancyGridMap2D.h.

std::vector<float> mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::OWA_weights

[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse.

Definition at line 685 of file COccupancyGridMap2D.h.

int32_t mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_decimation

[rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges.

Definition at line 669 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_stdHit

[rayTracing] The laser range sigma.

Definition at line 673 of file COccupancyGridMap2D.h.

bool mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_useDistanceFilter

[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.

Definition at line 665 of file COccupancyGridMap2D.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation