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mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions Class Reference

Detailed Description

With this struct options are provided to the observation likelihood computation process.

Definition at line 566 of file maps/COccupancyGridMap2D.h.

#include <mrpt/maps/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions:
Inheritance graph

Public Member Functions

 TLikelihoodOptions ()
 Initilization of default parameters. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method load the options from a ".ini" file. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const
 This method must display clearly 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 &section)
 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 &section) 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 &section) 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

TLikelihoodMethod likelihoodMethod
 The selected method to compute an observation likelihood. More...
 
float LF_stdHit
 [LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35 More...
 
float LF_zHit
 [LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5 More...
 
float LF_zRandom
 
float LF_maxRange
 [LikelihoodField] The max. More...
 
uint32_t LF_decimation
 [LikelihoodField] The decimation of the points in a scan, default=1 == no decimation. More...
 
float LF_maxCorrsDistance
 [LikelihoodField] The max. More...
 
bool LF_alternateAverageMethod
 [LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product". More...
 
float MI_exponent
 [MI] The exponent in the MI likelihood computation. More...
 
uint32_t MI_skip_rays
 [MI] The scan rays decimation: at every N rays, one will be used to compute the MI: More...
 
float MI_ratio_max_distance
 [MI] The ratio for the max. More...
 
bool rayTracing_useDistanceFilter
 [rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones. More...
 
int32_t rayTracing_decimation
 [rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges. More...
 
float rayTracing_stdHit
 [rayTracing] The laser range sigma. More...
 
int32_t consensus_takeEachRange
 [Consensus] The down-sample ratio of ranges (default=1, consider all the ranges) More...
 
float consensus_pow
 [Consensus] The power factor for the likelihood (default=5) More...
 
std::vector< float > OWA_weights
 [OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse. More...
 
bool enableLikelihoodCache
 Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false). 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)
 

Constructor & Destructor Documentation

mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::TLikelihoodOptions ( )

Initilization of default parameters.

Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

void mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Reimplemented from mrpt::utils::CLoadableOptions.

static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited
void mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual

This method load the options from a ".ini" file.

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:

[section]
resolution=0.10 ; blah blah...
modeSelection=1 ; 0=blah, 1=blah,...

Implements mrpt::utils::CLoadableOptions.

void mrpt::utils::CLoadableOptions::loadFromConfigFileName ( const std::string &  config_file,
const std::string &  section 
)
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.

See also
loadFromConfigFile
virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string &  section 
) const
virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.

void mrpt::utils::CLoadableOptions::saveToConfigFileName ( const std::string &  config_file,
const std::string &  section 
) const
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.

See also
saveToConfigFile, loadFromConfigFileName

Member Data Documentation

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_pow

[Consensus] The power factor for the likelihood (default=5)

Definition at line 650 of file maps/COccupancyGridMap2D.h.

int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::consensus_takeEachRange

[Consensus] The down-sample ratio of ranges (default=1, consider all the ranges)

Definition at line 646 of file maps/COccupancyGridMap2D.h.

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::enableLikelihoodCache

Enables the usage of a cache of likelihood values (for LF methods), if set to true (default=false).

Definition at line 658 of file maps/COccupancyGridMap2D.h.

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_alternateAverageMethod

[LikelihoodField] Set this to "true" ot use an alternative method, where the likelihood of the whole range scan is computed by "averaging" of individual ranges, instead of by the "product".

Definition at line 618 of file maps/COccupancyGridMap2D.h.

uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_decimation

[LikelihoodField] The decimation of the points in a scan, default=1 == no decimation.

Definition at line 610 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxCorrsDistance

[LikelihoodField] The max.

distance for searching correspondences around each sensed point

Definition at line 614 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_maxRange

[LikelihoodField] The max.

range of the sensor (def=81meters)

Definition at line 606 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_stdHit

[LikelihoodField] The laser range "sigma" used in computations; Default value = 0.35

Definition at line 598 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zHit

[LikelihoodField] Ratios of the hit/random components of the likelihood; Default values=0.95/0.5

Definition at line 602 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::LF_zRandom

Definition at line 602 of file maps/COccupancyGridMap2D.h.

TLikelihoodMethod mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::likelihoodMethod

The selected method to compute an observation likelihood.

Definition at line 594 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_exponent

[MI] The exponent in the MI likelihood computation.

Default value = 5

Definition at line 622 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_ratio_max_distance

[MI] The ratio for the max.

distance used in the MI computation and in the insertion of scans, e.g. if set to 2.0 the MI will use twice the distance that the update distance.

Definition at line 630 of file maps/COccupancyGridMap2D.h.

uint32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::MI_skip_rays

[MI] The scan rays decimation: at every N rays, one will be used to compute the MI:

Definition at line 626 of file maps/COccupancyGridMap2D.h.

std::vector<float> mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::OWA_weights

[OWA] The sequence of weights to be multiplied to of the ordered list of likelihood values (first one is the largest); the size of this vector determines the number of highest likelihood values to fuse.

Definition at line 654 of file maps/COccupancyGridMap2D.h.

int32_t mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_decimation

[rayTracing] One out of "rayTracing_decimation" rays will be simulated and compared only: set to 1 to use all the sensed ranges.

Definition at line 638 of file maps/COccupancyGridMap2D.h.

float mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_stdHit

[rayTracing] The laser range sigma.

Definition at line 642 of file maps/COccupancyGridMap2D.h.

bool mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions::rayTracing_useDistanceFilter

[rayTracing] If true (default), the rayTracing method will ignore measured ranges shorter than the simulated ones.

Definition at line 634 of file maps/COccupancyGridMap2D.h.




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