Struct for storing together the parameters needed for ICP matching, laser scans visualization etc.
Definition at line 436 of file CLoopCloserERD.h.
#include <mrpt/graphslam/ERD/CLoopCloserERD.h>
Public Member Functions | |
TLaserParams () | |
~TLaserParams () | |
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 | |
mrpt::slam::CICP | icp |
int | prev_nodes_for_ICP |
How many nodes back to check ICP against? More... | |
const mrpt::utils::TColor | laser_scans_color |
see Constructor for initialization More... | |
bool | visualize_laser_scans |
std::string | keystroke_laser_scans |
bool | use_scan_matching |
Indicate whethet to use scan-matching at all during graphSLAM [on by default]. More... | |
bool | has_read_config |
TSlidingWindow | mahal_distance_ICP_odom_win |
Keep track of the mahalanobis distance between the initial pose difference and the suggested new edge for the pairs of checked nodes. More... | |
TSlidingWindow | goodness_threshold_win |
Keep track of ICP Goodness values for ICP between nearby nodes and adapt the Goodness threshold based on the median of the recorded Goodness values. 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) |
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::TLaserParams | ( | ) |
Definition at line 2326 of file CLoopCloserERD_impl.h.
References mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::goodness_threshold_win, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::mahal_distance_ICP_odom_win, and mrpt::graphslam::TSlidingWindow::resizeWindow().
mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::~TLaserParams | ( | ) |
Definition at line 2336 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 2339 of file CLoopCloserERD_impl.h.
References MRPT_END, MRPT_START, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::prev_nodes_for_ICP, mrpt::utils::CStream::printf(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::use_scan_matching, and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::visualize_laser_scans.
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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 2353 of file CLoopCloserERD_impl.h.
References mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::has_read_config, MRPT_END, MRPT_START, mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::prev_nodes_for_ICP, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_int(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::use_scan_matching, and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::visualize_laser_scans.
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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.
TSlidingWindow mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::goodness_threshold_win |
Keep track of ICP Goodness values for ICP between nearby nodes and adapt the Goodness threshold based on the median of the recorded Goodness values.
Definition at line 476 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::addScanMatchingEdges(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::generateHypotsPool(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::TLaserParams().
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::has_read_config |
Definition at line 466 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initializeVisuals(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::loadFromConfigFile().
mrpt::slam::CICP mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::icp |
Definition at line 446 of file CLoopCloserERD.h.
std::string mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::keystroke_laser_scans |
Definition at line 456 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::notifyOfWindowEvents(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::setWindowManagerPtr().
const mrpt::utils::TColor mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::laser_scans_color |
see Constructor for initialization
Definition at line 452 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initLaserScansVisualization().
TSlidingWindow mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::mahal_distance_ICP_odom_win |
Keep track of the mahalanobis distance between the initial pose difference and the suggested new edge for the pairs of checked nodes.
Definition at line 471 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::mahalanobisDistanceOdometryToICPEdge(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::TLaserParams().
int mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::prev_nodes_for_ICP |
How many nodes back to check ICP against?
Definition at line 449 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::fetchNodeIDsForScanMatching(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::loadFromConfigFile().
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::use_scan_matching |
Indicate whethet to use scan-matching at all during graphSLAM [on by default].
Definition at line 465 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::loadFromConfigFile(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateState().
bool mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::visualize_laser_scans |
Definition at line 453 of file CLoopCloserERD.h.
Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::dumpToTextStream(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initializeVisuals(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::initLaserScansVisualization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::TLaserParams::loadFromConfigFile(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::toggleLaserScansVisualization(), mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateLaserScansVisualization(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateVisuals().
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