Detailed Description

With this struct options are provided to the observation insertion process.

See Also: CObservation::insertIntoPointsMap

Definition at line 184 of file CPointsMap.h.

#include <mrpt/slam/CPointsMap.h>

Inheritance diagram for mrpt::slam::CPointsMap::TInsertionOptions:

Public Member Functions
	TInsertionOptions ()
	Initilization of default parameters.

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
float	minDistBetweenLaserPoints
	The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. Default is 0.02 meters.

bool	addToExistingPointsMap
	Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. Default is false.

bool	also_interpolate
	If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false).

bool	disableDeletion
	If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. they don't exist yet.

bool	fuseWithExisting
	If set to true (default=false), inserted points are "fused" with previously existent ones. This shrink the size of the points map, but its slower.

bool	isPlanarMap
	If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated).

float	horizontalTolerance
	The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0).

float	maxDistForInterpolatePoints
	The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true)

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::CPointsMap::TInsertionOptions::TInsertionOptions ( )

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::CPointsMap::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::CPointsMap::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::CPointsMap::TInsertionOptions::addToExistingPointsMap

Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. Default is false.

Definition at line 194 of file CPointsMap.h.

bool mrpt::slam::CPointsMap::TInsertionOptions::also_interpolate

If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false).

Definition at line 195 of file CPointsMap.h.

bool mrpt::slam::CPointsMap::TInsertionOptions::disableDeletion

If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. they don't exist yet.

Definition at line 196 of file CPointsMap.h.

bool mrpt::slam::CPointsMap::TInsertionOptions::fuseWithExisting

If set to true (default=false), inserted points are "fused" with previously existent ones. This shrink the size of the points map, but its slower.

Definition at line 197 of file CPointsMap.h.

float mrpt::slam::CPointsMap::TInsertionOptions::horizontalTolerance

The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0).

Definition at line 199 of file CPointsMap.h.

bool mrpt::slam::CPointsMap::TInsertionOptions::isPlanarMap

If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated).

See Also: horizontalTolerance

Definition at line 198 of file CPointsMap.h.

float mrpt::slam::CPointsMap::TInsertionOptions::maxDistForInterpolatePoints

The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true)

Definition at line 200 of file CPointsMap.h.

float mrpt::slam::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints

The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. Default is 0.02 meters.

Definition at line 193 of file CPointsMap.h.

Detailed Description

Public Member Functions

Public Attributes

Static Protected Member Functions

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation