The options for the algorithm.
Definition at line 97 of file CRangeBearingKFSLAM2D.h.
#include <mrpt/slam/CRangeBearingKFSLAM2D.h>
Public Member Functions | |
TOptions () | |
Default values. More... | |
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 | 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::math::CVectorFloat | stds_Q_no_odo |
A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!) More... | |
float | std_sensor_range |
float | std_sensor_yaw |
The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians. More... | |
float | quantiles_3D_representation |
Default = 3. More... | |
bool | create_simplemap |
Whether to fill m_SFs (default=false) More... | |
TDataAssociationMethod | data_assoc_method |
TDataAssociationMetric | data_assoc_metric |
double | data_assoc_IC_chi2_thres |
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99) More... | |
TDataAssociationMetric | data_assoc_IC_metric |
Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood. More... | |
double | data_assoc_IC_ml_threshold |
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0) 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::slam::CRangeBearingKFSLAM2D::TOptions::TOptions | ( | ) |
Default values.
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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.
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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.
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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.
bool mrpt::slam::CRangeBearingKFSLAM2D::TOptions::create_simplemap |
Whether to fill m_SFs (default=false)
Definition at line 108 of file CRangeBearingKFSLAM2D.h.
double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_chi2_thres |
Threshold in [0,1] for the chi2square test for individual compatibility between predictions and observations (default: 0.99)
Definition at line 113 of file CRangeBearingKFSLAM2D.h.
TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_metric |
Whether to use mahalanobis (->chi2 criterion) vs. Matching likelihood.
Definition at line 114 of file CRangeBearingKFSLAM2D.h.
double mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_IC_ml_threshold |
Only if data_assoc_IC_metric==ML, the log-ML threshold (Default=0.0)
Definition at line 115 of file CRangeBearingKFSLAM2D.h.
TDataAssociationMethod mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_method |
Definition at line 111 of file CRangeBearingKFSLAM2D.h.
TDataAssociationMetric mrpt::slam::CRangeBearingKFSLAM2D::TOptions::data_assoc_metric |
Definition at line 112 of file CRangeBearingKFSLAM2D.h.
float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::quantiles_3D_representation |
Default = 3.
Definition at line 107 of file CRangeBearingKFSLAM2D.h.
float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_range |
Definition at line 106 of file CRangeBearingKFSLAM2D.h.
float mrpt::slam::CRangeBearingKFSLAM2D::TOptions::std_sensor_yaw |
The std. deviation of the sensor (for the matrix R in the kalman filters), in meters and radians.
Definition at line 106 of file CRangeBearingKFSLAM2D.h.
mrpt::math::CVectorFloat mrpt::slam::CRangeBearingKFSLAM2D::TOptions::stds_Q_no_odo |
A 3-length vector with the std. deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)
Definition at line 105 of file CRangeBearingKFSLAM2D.h.
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