A variety of options and configuration params (private, use loadOptions).
Definition at line 395 of file CHMTSLAM.h.
#include <mrpt/hmtslam/CHMTSLAM.h>
Public Member Functions | |
TOptions () | |
Initialization of default params. More... | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
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 §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 | |
std::string | LOG_OUTPUT_DIR |
[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there. More... | |
int | LOG_FREQUENCY |
[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated. More... | |
TLSlamMethod | SLAM_METHOD |
[LSLAM] The method to use for local SLAM More... | |
float | SLAM_MIN_DIST_BETWEEN_OBS |
[LSLAM] Minimum distance (and heading) difference between observations inserted in the map. More... | |
float | SLAM_MIN_HEADING_BETWEEN_OBS |
float | MIN_ODOMETRY_STD_XY |
[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0) More... | |
float | MIN_ODOMETRY_STD_PHI |
[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0) More... | |
float | VIEW3D_AREA_SPHERES_HEIGHT |
[VIEW3D] The height of the areas' spheres. More... | |
float | VIEW3D_AREA_SPHERES_RADIUS |
[VIEW3D] The radius of the areas' spheres. More... | |
mrpt::math::CVectorFloat | stds_Q_no_odo |
A 3-length vector with the std. More... | |
mrpt::slam::CIncrementalMapPartitioner::TOptions | AA_options |
[AA] The options for the partitioning algorithm More... | |
mrpt::maps::TSetOfMetricMapInitializers | defaultMapsInitializers |
The default set of maps to be created in each particle. More... | |
bayes::CParticleFilter::TParticleFilterOptions | pf_options |
These params are used from every LMH object. More... | |
mrpt::slam::TKLDParams | KLD_params |
int | random_seed |
0 means randomize, use any other value to have repetitive experiments. More... | |
vector_string | TLC_detectors |
A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching. More... | |
CTopLCDetector_GridMatching::TOptions | TLC_grid_options |
Options passed to this TLC constructor. More... | |
CTopLCDetector_FabMap::TOptions | TLC_fabmap_options |
Options passed to this TLC constructor. 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::hmtslam::CHMTSLAM::TOptions::TOptions | ( | ) |
Initialization of default params.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
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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.
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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 |
Load parameters from configuration source.
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.
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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::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.
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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.
mrpt::slam::CIncrementalMapPartitioner::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::AA_options |
[AA] The options for the partitioning algorithm
Definition at line 443 of file CHMTSLAM.h.
mrpt::maps::TSetOfMetricMapInitializers mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers |
The default set of maps to be created in each particle.
Definition at line 445 of file CHMTSLAM.h.
mrpt::slam::TKLDParams mrpt::hmtslam::CHMTSLAM::TOptions::KLD_params |
Definition at line 447 of file CHMTSLAM.h.
int mrpt::hmtslam::CHMTSLAM::TOptions::LOG_FREQUENCY |
[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.
Definition at line 413 of file CHMTSLAM.h.
std::string mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR |
[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there.
Definition at line 412 of file CHMTSLAM.h.
float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_PHI |
[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)
Definition at line 427 of file CHMTSLAM.h.
float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_XY |
[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)
Definition at line 424 of file CHMTSLAM.h.
bayes::CParticleFilter::TParticleFilterOptions mrpt::hmtslam::CHMTSLAM::TOptions::pf_options |
These params are used from every LMH object.
Definition at line 446 of file CHMTSLAM.h.
int mrpt::hmtslam::CHMTSLAM::TOptions::random_seed |
0 means randomize, use any other value to have repetitive experiments.
Definition at line 449 of file CHMTSLAM.h.
TLSlamMethod mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_METHOD |
[LSLAM] The method to use for local SLAM
Definition at line 417 of file CHMTSLAM.h.
float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_DIST_BETWEEN_OBS |
[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.
Definition at line 421 of file CHMTSLAM.h.
float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_HEADING_BETWEEN_OBS |
Definition at line 421 of file CHMTSLAM.h.
mrpt::math::CVectorFloat mrpt::hmtslam::CHMTSLAM::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 439 of file CHMTSLAM.h.
vector_string mrpt::hmtslam::CHMTSLAM::TOptions::TLC_detectors |
A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching.
'fabmap': Mark Cummins' image matching framework.
Definition at line 455 of file CHMTSLAM.h.
CTopLCDetector_FabMap::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options |
Options passed to this TLC constructor.
Definition at line 458 of file CHMTSLAM.h.
CTopLCDetector_GridMatching::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_grid_options |
Options passed to this TLC constructor.
Definition at line 457 of file CHMTSLAM.h.
float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_HEIGHT |
[VIEW3D] The height of the areas' spheres.
Definition at line 431 of file CHMTSLAM.h.
float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_RADIUS |
[VIEW3D] The radius of the areas' spheres.
Definition at line 435 of file CHMTSLAM.h.
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