Detailed Description

Parameters related with inserting observations into the map.

Definition at line 147 of file CHeightGridMap2D.h.

#include <mrpt/slam/CHeightGridMap2D.h>

Inheritance diagram for mrpt::slam::CHeightGridMap2D::TInsertionOptions:

Public Member Functions
	TInsertionOptions ()
	Default values loader:

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.

void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.

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	filterByHeight
	Wether to perform filtering by z-coordinate (default=false): coordinates are always RELATIVE to the robot for this filter.

float	z_min
	Only when filterByHeight is true: coordinates are always RELATIVE to the robot for this filter.

float	z_max

float	minDistBetweenPointsWhenInserting
	When inserting a scan, a point cloud is first created with this minimum distance between the 3D points (default=0).

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::CHeightGridMap2D::TInsertionOptions::TInsertionOptions ( )

Default values loader:

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::CHeightGridMap2D::TInsertionOptions::dumpToTextStream ( CStream & out ) const

virtual

See utils::CLoadableOptions.

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::CHeightGridMap2D::TInsertionOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

virtual

See utils::CLoadableOptions.

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::CHeightGridMap2D::TInsertionOptions::filterByHeight

Wether to perform filtering by z-coordinate (default=false): coordinates are always RELATIVE to the robot for this filter.

Definition at line 165 of file CHeightGridMap2D.h.

float mrpt::slam::CHeightGridMap2D::TInsertionOptions::minDistBetweenPointsWhenInserting

When inserting a scan, a point cloud is first created with this minimum distance between the 3D points (default=0).

Definition at line 171 of file CHeightGridMap2D.h.

float mrpt::slam::CHeightGridMap2D::TInsertionOptions::z_max

Definition at line 169 of file CHeightGridMap2D.h.

float mrpt::slam::CHeightGridMap2D::TInsertionOptions::z_min

Only when filterByHeight is true: coordinates are always RELATIVE to the robot for this filter.

Definition at line 169 of file CHeightGridMap2D.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation