Options used when evaluating "computeObservationLikelihood".
Definition at line 144 of file maps/COctoMapBase.h.
#include <mrpt/maps/COctoMapBase.h>
Public Member Functions | |
TLikelihoodOptions () | |
Initilization of default parameters. More... | |
virtual | ~TLikelihoodOptions () |
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 | writeToStream (mrpt::utils::CStream &out) const |
Binary dump to stream. More... | |
void | readFromStream (mrpt::utils::CStream &in) |
Binary dump to stream. 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 | |
uint32_t | decimation |
Speed up the likelihood computation by considering only one out of N rays (default=1) 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::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::TLikelihoodOptions | ( | ) |
Initilization of default parameters.
Definition at line 267 of file COctoMapBase_impl.h.
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inlinevirtual |
Definition at line 149 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::dumpToTextStream(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::loadFromConfigFile(), MRPT_OVERRIDE, mrpt::utils::CSerializable::readFromStream(), and mrpt::utils::CSerializable::writeToStream().
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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 318 of file COctoMapBase_impl.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::decimation, LOADABLEOPTS_DUMP_VAR, and mrpt::utils::CStream::printf().
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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 351 of file COctoMapBase_impl.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::decimation, and MRPT_LOAD_CONFIG_VAR.
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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().
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::readFromStream | ( | mrpt::utils::CStream & | in | ) |
Binary dump to stream.
Definition at line 281 of file COctoMapBase_impl.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::decimation, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and exprtk::information::version.
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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.
void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::writeToStream | ( | mrpt::utils::CStream & | out | ) | const |
Binary dump to stream.
Definition at line 273 of file COctoMapBase_impl.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::decimation, and exprtk::information::version.
uint32_t mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::decimation |
Speed up the likelihood computation by considering only one out of N rays (default=1)
Definition at line 157 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::dumpToTextStream(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::loadFromConfigFile(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::readFromStream(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions::writeToStream().
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