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mrpt::slam::CIncrementalMapPartitioner::TOptions Struct Reference

Detailed Description

Configuration of the algorithm:

Definition at line 53 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner::TOptions:
Inheritance graph

Public Member Functions

 TOptions ()
 Sets default values at object creation. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 Load parameters from configuration source. 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

float partitionThreshold
 The partition threshold for bisection in range [0,2], default=1.0. More...
 
float gridResolution
 For the occupancy grid maps of each node, default=0.10. More...
 
float minDistForCorrespondence
 Used in the computation of weights, default=0.20. More...
 
float minMahaDistForCorrespondence
 Used in the computation of weights, default=2.0. More...
 
bool forceBisectionOnly
 If set to true (default), 1 or 2 clusters will be returned. More...
 
bool useMapMatching
 If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs. More...
 
int minimumNumberElementsEachCluster
 If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (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)
 

Constructor & Destructor Documentation

§ TOptions()

mrpt::slam::CIncrementalMapPartitioner::TOptions::TOptions ( )

Sets default values at object creation.

Member Function Documentation

§ dumpToConsole()

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

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

§ dumpToTextStream()

void mrpt::slam::CIncrementalMapPartitioner::TOptions::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.

§ dumpVar_bool()

static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited

§ dumpVar_double()

static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited

§ dumpVar_float()

static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited

§ dumpVar_int()

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.

§ dumpVar_string()

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited

§ loadFromConfigFile()

void mrpt::slam::CIncrementalMapPartitioner::TOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual

Load parameters from configuration source.

Implements mrpt::utils::CLoadableOptions.

§ loadFromConfigFileName()

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

§ saveToConfigFile()

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.

§ saveToConfigFileName()

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

§ forceBisectionOnly

bool mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly

If set to true (default), 1 or 2 clusters will be returned.

Default=false -> Autodetermine the number of partitions.

Definition at line 87 of file CIncrementalMapPartitioner.h.

§ gridResolution

float mrpt::slam::CIncrementalMapPartitioner::TOptions::gridResolution

For the occupancy grid maps of each node, default=0.10.

Definition at line 75 of file CIncrementalMapPartitioner.h.

§ minDistForCorrespondence

float mrpt::slam::CIncrementalMapPartitioner::TOptions::minDistForCorrespondence

Used in the computation of weights, default=0.20.

Definition at line 79 of file CIncrementalMapPartitioner.h.

§ minimumNumberElementsEachCluster

int mrpt::slam::CIncrementalMapPartitioner::TOptions::minimumNumberElementsEachCluster

If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).

Definition at line 94 of file CIncrementalMapPartitioner.h.

§ minMahaDistForCorrespondence

float mrpt::slam::CIncrementalMapPartitioner::TOptions::minMahaDistForCorrespondence

Used in the computation of weights, default=2.0.

Definition at line 83 of file CIncrementalMapPartitioner.h.

§ partitionThreshold

float mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold

The partition threshold for bisection in range [0,2], default=1.0.

Definition at line 71 of file CIncrementalMapPartitioner.h.

§ useMapMatching

bool mrpt::slam::CIncrementalMapPartitioner::TOptions::useMapMatching

If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.

Definition at line 91 of file CIncrementalMapPartitioner.h.




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