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mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions Struct Reference

Detailed Description

Parameters related with inserting observations into the map:

Definition at line 58 of file maps/CGasConcentrationGridMap2D.h.

#include <mrpt/maps/CGasConcentrationGridMap2D.h>

Inheritance diagram for mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions:
Inheritance graph

Public Member Functions

 TInsertionOptions ()
 Default values loader. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const
 See utils::CLoadableOptions. 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...
 
void internal_loadFromConfigFile_common (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions. More...
 
void internal_dumpToTextStream_common (mrpt::utils::CStream &out) const
 See utils::CLoadableOptions. More...
 

Public Attributes

For all mapping methods
std::string gasSensorLabel
 The label of the CObservationGasSensor used to generate the map. More...
 
uint16_t enose_id
 id for the enose used to generate this map (must be < gasGrid_count) More...
 
uint16_t gasSensorType
 The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...) More...
 
std::string windSensorLabel
 The label of the WindSenor used to simulate advection. More...
 
bool useWindInformation
 
float advectionFreq
 Indicates if wind information must be used to simulate Advection. More...
 
float std_windNoise_phi
 Frequency for simulating advection (only used to transform wind speed to distance) More...
 
float std_windNoise_mod
 
float default_wind_direction
 The std to consider on wind information measurements. More...
 
float default_wind_speed
 
Kernel methods (mrKernelDM, mrKernelDMV)
float sigma
 The sigma of the "Parzen"-kernel Gaussian. More...
 
float cutoffRadius
 The cutoff radius for updating cells. More...
 
float R_min
 
float R_max
 Limits for normalization of sensor readings. More...
 
double dm_sigma_omega
 [DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) */ More...
 
Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate)
float KF_covSigma
 The "sigma" for the initial covariance value between cells (in meters). More...
 
float KF_initialCellStd
 The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units). More...
 
float KF_observationModelNoise
 The sensor model noise (in normalized concentration units). More...
 
float KF_defaultCellMeanValue
 The default value for the mean of cells' concentration. More...
 
uint16_t KF_W_size
 [mrKalmanApproximate] The size of the window of neighbor cells. More...
 
Gaussian Markov Random Fields methods (mrGMRF_)
float GMRF_lambdaPrior
 The information (Lambda) of fixed map constraints. More...
 
float GMRF_lambdaObs
 The initial information (Lambda) of each observation (this information will decrease with time) More...
 
float GMRF_lambdaObsLoss
 The loss of information of the observations with each iteration. More...
 
bool GMRF_use_occupancy_information
 wether to use information of an occupancy_gridmap map for buidling the GMRF More...
 
std::string GMRF_simplemap_file
 simplemap_file name of the occupancy_gridmap More...
 
std::string GMRF_gridmap_image_file
 image name of the occupancy_gridmap More...
 
float GMRF_gridmap_image_res
 occupancy_gridmap resolution: size of each pixel (m) More...
 
size_t GMRF_gridmap_image_cx
 Pixel coordinates of the origin for the occupancy_gridmap. More...
 
size_t GMRF_gridmap_image_cy
 Pixel coordinates of the origin for the occupancy_gridmap. More...
 
uint16_t GMRF_constraintsSize
 The size of the Gaussian window to impose fixed restrictions between cells. More...
 
float GMRF_constraintsSigma
 The sigma of the Gaussian window to impose fixed restrictions between cells. 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

§ TInsertionOptions()

mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::TInsertionOptions ( )

Default values loader.

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::maps::CGasConcentrationGridMap2D::TInsertionOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

§ 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

§ internal_dumpToTextStream_common()

void mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common ( mrpt::utils::CStream out) const
inherited

§ internal_loadFromConfigFile_common()

void mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
inherited

§ loadFromConfigFile()

void mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual

§ 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

§ advectionFreq

float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::advectionFreq

Indicates if wind information must be used to simulate Advection.

Definition at line 80 of file maps/CGasConcentrationGridMap2D.h.

§ cutoffRadius

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius
inherited

The cutoff radius for updating cells.

Definition at line 195 of file maps/CRandomFieldGridMap2D.h.

§ default_wind_direction

float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::default_wind_direction

The std to consider on wind information measurements.

Definition at line 82 of file maps/CGasConcentrationGridMap2D.h.

§ default_wind_speed

float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::default_wind_speed

Definition at line 82 of file maps/CGasConcentrationGridMap2D.h.

§ dm_sigma_omega

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega
inherited

[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) */

Definition at line 197 of file maps/CRandomFieldGridMap2D.h.

§ enose_id

uint16_t mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::enose_id

id for the enose used to generate this map (must be < gasGrid_count)

Definition at line 74 of file maps/CGasConcentrationGridMap2D.h.

§ gasSensorLabel

std::string mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::gasSensorLabel

The label of the CObservationGasSensor used to generate the map.

Definition at line 73 of file maps/CGasConcentrationGridMap2D.h.

§ gasSensorType

uint16_t mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::gasSensorType

The sensor type for the gas concentration map (0x0000 ->mean of all installed sensors, 0x2600, 0x6810, ...)

Definition at line 75 of file maps/CGasConcentrationGridMap2D.h.

§ GMRF_constraintsSigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_constraintsSigma
inherited

The sigma of the Gaussian window to impose fixed restrictions between cells.

Definition at line 223 of file maps/CRandomFieldGridMap2D.h.

§ GMRF_constraintsSize

uint16_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_constraintsSize
inherited

The size of the Gaussian window to impose fixed restrictions between cells.

Definition at line 222 of file maps/CRandomFieldGridMap2D.h.

§ GMRF_gridmap_image_cx

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cx
inherited

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 219 of file maps/CRandomFieldGridMap2D.h.

§ GMRF_gridmap_image_cy

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cy
inherited

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 220 of file maps/CRandomFieldGridMap2D.h.

§ GMRF_gridmap_image_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_file
inherited

image name of the occupancy_gridmap

Definition at line 217 of file maps/CRandomFieldGridMap2D.h.

§ GMRF_gridmap_image_res

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_res
inherited

occupancy_gridmap resolution: size of each pixel (m)

Definition at line 218 of file maps/CRandomFieldGridMap2D.h.

§ GMRF_lambdaObs

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObs
inherited

The initial information (Lambda) of each observation (this information will decrease with time)

Definition at line 212 of file maps/CRandomFieldGridMap2D.h.

§ GMRF_lambdaObsLoss

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObsLoss
inherited

The loss of information of the observations with each iteration.

Definition at line 213 of file maps/CRandomFieldGridMap2D.h.

§ GMRF_lambdaPrior

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaPrior
inherited

The information (Lambda) of fixed map constraints.

Definition at line 211 of file maps/CRandomFieldGridMap2D.h.

§ GMRF_simplemap_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_simplemap_file
inherited

simplemap_file name of the occupancy_gridmap

Definition at line 216 of file maps/CRandomFieldGridMap2D.h.

§ GMRF_use_occupancy_information

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_use_occupancy_information
inherited

wether to use information of an occupancy_gridmap map for buidling the GMRF

Definition at line 215 of file maps/CRandomFieldGridMap2D.h.

§ KF_covSigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma
inherited

The "sigma" for the initial covariance value between cells (in meters).

Definition at line 202 of file maps/CRandomFieldGridMap2D.h.

§ KF_defaultCellMeanValue

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue
inherited

The default value for the mean of cells' concentration.

Definition at line 205 of file maps/CRandomFieldGridMap2D.h.

§ KF_initialCellStd

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd
inherited

The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).

Definition at line 203 of file maps/CRandomFieldGridMap2D.h.

§ KF_observationModelNoise

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise
inherited

The sensor model noise (in normalized concentration units).

Definition at line 204 of file maps/CRandomFieldGridMap2D.h.

§ KF_W_size

uint16_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size
inherited

[mrKalmanApproximate] The size of the window of neighbor cells.

Definition at line 206 of file maps/CRandomFieldGridMap2D.h.

§ R_max

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max
inherited

Limits for normalization of sensor readings.

Definition at line 196 of file maps/CRandomFieldGridMap2D.h.

§ R_min

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min
inherited

Definition at line 196 of file maps/CRandomFieldGridMap2D.h.

§ sigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma
inherited

The sigma of the "Parzen"-kernel Gaussian.

Definition at line 194 of file maps/CRandomFieldGridMap2D.h.

§ std_windNoise_mod

float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::std_windNoise_mod

Definition at line 81 of file maps/CGasConcentrationGridMap2D.h.

§ std_windNoise_phi

float mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::std_windNoise_phi

Frequency for simulating advection (only used to transform wind speed to distance)

Definition at line 81 of file maps/CGasConcentrationGridMap2D.h.

§ useWindInformation

bool mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::useWindInformation

Definition at line 79 of file maps/CGasConcentrationGridMap2D.h.

§ windSensorLabel

std::string mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions::windSensorLabel

The label of the WindSenor used to simulate advection.

Definition at line 76 of file maps/CGasConcentrationGridMap2D.h.




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