With this struct options are provided to the observation insertion process.
Definition at line 69 of file maps/COctoMapBase.h.
#include <mrpt/maps/COctoMapBase.h>
Public Member Functions | |
TInsertionOptions (myself_t &parent) | |
Initilization of default parameters. More... | |
TInsertionOptions () | |
Especial constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc. More... | |
TInsertionOptions & | operator= (const TInsertionOptions &o) |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) MRPT_OVERRIDE |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More... | |
void | setOccupancyThres (double prob) |
(key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5) More... | |
void | setProbHit (double prob) |
(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7) More... | |
void | setProbMiss (double prob) |
(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4) More... | |
void | setClampingThresMin (double thresProb) |
(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds) More... | |
void | setClampingThresMax (double thresProb) |
(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds) More... | |
double | getOccupancyThres () const |
float | getOccupancyThresLog () const |
double | getProbHit () const |
float | getProbHitLog () const |
double | getProbMiss () const |
float | getProbMissLog () const |
double | getClampingThresMin () const |
float | getClampingThresMinLog () const |
double | getClampingThresMax () const |
float | getClampingThresMaxLog () const |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More... | |
virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string §ion) const |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
void | saveToConfigFileName (const std::string &config_file, const std::string §ion) const |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More... | |
void | dumpToConsole () const |
Just like dumpToTextStream() but sending the text to the console (std::cout) More... | |
Public Attributes | |
double | maxrange |
maximum range for how long individual beams are inserted (default -1: complete beam) More... | |
bool | pruning |
whether the tree is (losslessly) pruned after insertion (default: true) More... | |
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. More... | |
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) |
Private Attributes | |
mrpt::utils::ignored_copy_ptr< myself_t > | m_parent |
double | occupancyThres |
double | probHit |
double | probMiss |
double | clampingThresMin |
double | clampingThresMax |
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions | ( | myself_t & | parent | ) |
Initilization of default parameters.
Definition at line 239 of file COctoMapBase_impl.h.
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions | ( | ) |
Especial constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc.
Definition at line 253 of file COctoMapBase_impl.h.
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Just like dumpToTextStream() but sending the text to the console (std::cout)
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This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented from mrpt::utils::CLoadableOptions.
Definition at line 301 of file COctoMapBase_impl.h.
References LOADABLEOPTS_DUMP_VAR, and mrpt::utils::CStream::printf().
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::~TLikelihoodOptions().
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staticprotectedinherited |
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staticprotectedinherited |
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Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
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Definition at line 125 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMax, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 127 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
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Definition at line 121 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMin, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 123 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
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Definition at line 107 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::occupancyThres.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 109 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
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Definition at line 112 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probHit.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 114 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
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Definition at line 116 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probMiss.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 118 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
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This method load the options from a ".ini"-like file or memory-stored string list.
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:
Implements mrpt::utils::CLoadableOptions.
Definition at line 329 of file COctoMapBase_impl.h.
References MRPT_LOAD_CONFIG_VAR.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::~TLikelihoodOptions().
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Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
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Definition at line 75 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMax, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMin, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::dumpToTextStream(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::loadFromConfigFile(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::maxrange, MRPT_OVERRIDE, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::occupancyThres, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probHit, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probMiss, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::pruning, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbMiss().
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This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.
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Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
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(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds)
Definition at line 104 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds)
Definition at line 102 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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(key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5)
Definition at line 96 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7)
Definition at line 98 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4)
Definition at line 100 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 136 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMax(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 135 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMin(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 130 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMaxLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMinLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThresLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHitLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMissLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbMiss().
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::maxrange |
maximum range for how long individual beams are inserted (default -1: complete beam)
Definition at line 92 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 132 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThres(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 133 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHit(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 134 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMiss(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::pruning |
whether the tree is (losslessly) pruned after insertion (default: true)
Definition at line 93 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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