Struct for storing together the loop-closing related parameters.
Definition at line 482 of file CLoopCloserERD.h.
#include <mrpt/graphslam/ERD/CLoopCloserERD.h>
Public Member Functions | |
TLoopClosureParams () | |
~TLoopClosureParams () | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More... | |
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 | |
bool | LC_check_curr_partition_only |
flag indicating whether to check only the partition of the last registered node for potential loop closures More... | |
size_t | LC_min_nodeid_diff |
nodeID difference for detecting potential loop closure in a partition. More... | |
double | LC_eigenvalues_ratio_thresh |
Eigenvalues ratio for accepting/rejecting a hypothesis set. More... | |
int | LC_min_remote_nodes |
how many remote nodes (large nodID difference should there be before I consider the potential loop closure. More... | |
int | full_partition_per_nodes |
Full partition of map only afer X new nodes have been registered. More... | |
bool | visualize_map_partitions |
std::string | keystroke_map_partitions |
double | offset_y_map_partitions |
int | text_index_map_partitions |
const double | balloon_elevation |
const double | balloon_radius |
const mrpt::utils::TColor | balloon_std_color |
const mrpt::utils::TColor | balloon_curr_color |
const mrpt::utils::TColor | connecting_lines_color |
bool | has_read_config |
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) |
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::TLoopClosureParams | ( | ) |
Definition at line 2380 of file CLoopCloserERD_impl.h.
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::~TLoopClosureParams | ( | ) |
Definition at line 2392 of file CLoopCloserERD_impl.h.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::printParams(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::printParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::printParams().
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virtual |
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 2395 of file CLoopCloserERD_impl.h.
References mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::full_partition_per_nodes, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_check_curr_partition_only, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_eigenvalues_ratio_thresh, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_nodeid_diff, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_remote_nodes, MRPT_END, MRPT_START, mrpt::utils::CStream::printf(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::visualize_map_partitions.
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
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staticprotectedinherited |
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virtual |
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 2419 of file CLoopCloserERD_impl.h.
References mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::full_partition_per_nodes, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::has_read_config, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_check_curr_partition_only, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_eigenvalues_ratio_thresh, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_nodeid_diff, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_remote_nodes, MRPT_END, MRPT_START, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::visualize_map_partitions.
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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.
Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams().
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virtualinherited |
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::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.
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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.
const mrpt::utils::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_curr_color |
Definition at line 526 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().
const double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_elevation |
Definition at line 523 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().
const double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_radius |
Definition at line 524 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().
const mrpt::utils::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::balloon_std_color |
Definition at line 525 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().
const mrpt::utils::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::connecting_lines_color |
Definition at line 527 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::full_partition_per_nodes |
Full partition of map only afer X new nodes have been registered.
Definition at line 515 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateState().
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::has_read_config |
Definition at line 529 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile().
std::string mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::keystroke_map_partitions |
Definition at line 517 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::notifyOfWindowEvents(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::setWindowManagerPtr().
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_check_curr_partition_only |
flag indicating whether to check only the partition of the last registered node for potential loop closures
Definition at line 495 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::checkPartitionsForLC(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initMapPartitionsVisualization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().
double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_eigenvalues_ratio_thresh |
Eigenvalues ratio for accepting/rejecting a hypothesis set.
By default this is set to 2.
Definition at line 507 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::computeDominantEigenVector(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile().
size_t mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_nodeid_diff |
nodeID difference for detecting potential loop closure in a partition.
If this difference is surpassed then the partition should be investigated for loop closures using Olson's strategy.
Definition at line 502 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::checkPartitionsForLC(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::registerNewEdge(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::splitPartitionToGroups().
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::LC_min_remote_nodes |
how many remote nodes (large nodID difference should there be before I consider the potential loop closure.
Definition at line 511 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::checkPartitionsForLC(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile().
double mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::offset_y_map_partitions |
Definition at line 519 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initMapPartitionsVisualization(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::text_index_map_partitions |
Definition at line 520 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initMapPartitionsVisualization(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::visualize_map_partitions |
Definition at line 516 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLoopClosureParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::toggleMapPartitionsVisualization(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateVisuals().
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