A variety of options and configuration params (private, use loadOptions).
Definition at line 419 of file CHMTSLAM.h.
#include <mrpt/hmtslam/CHMTSLAM.h>
Public Member Functions | |
TOptions () | |
Initialization of default params. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
Load parameters from configuration source. | |
void | dumpToTextStream (CStream &out) const |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream. | |
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. | |
int | LOG_FREQUENCY |
[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated. | |
TLSlamMethod | SLAM_METHOD |
[LSLAM] The method to use for local SLAM | |
float | SLAM_MIN_DIST_BETWEEN_OBS |
[LSLAM] Minimum distance (and heading) difference between observations inserted in the map. | |
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) | |
float | MIN_ODOMETRY_STD_PHI |
[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0) | |
float | VIEW3D_AREA_SPHERES_HEIGHT |
[VIEW3D] The height of the areas' spheres. | |
float | VIEW3D_AREA_SPHERES_RADIUS |
[VIEW3D] The radius of the areas' spheres. | |
vector_float | stds_Q_no_odo |
A 3-length vector with the std. | |
CIncrementalMapPartitioner::TOptions | AA_options |
[AA] The options for the partitioning algorithm | |
TSetOfMetricMapInitializers | defaultMapsInitializers |
The default set of maps to be created in each particle. | |
CMultiMetricMap::TOptions | defaultMapsOptions |
The default options for the CMultiMetricMap in each particle. | |
bayes::CParticleFilter::TParticleFilterOptions | pf_options |
These params are used from every LMH object. | |
TKLDParams | KLD_params |
int | random_seed |
0 means randomize, use any other value to have repetitive experiments. | |
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. | |
CTopLCDetector_GridMatching::TOptions | TLC_grid_options |
Options passed to this TLC constructor. | |
CTopLCDetector_FabMap::TOptions | TLC_fabmap_options |
Options passed to this TLC constructor. |
mrpt::hmtslam::CHMTSLAM::TOptions::TOptions | ( | ) |
Initialization of default params.
void mrpt::hmtslam::CHMTSLAM::TOptions::dumpToTextStream | ( | CStream & | out ) | const [virtual] |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream.
Implements mrpt::utils::CLoadableOptions.
void mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) | [virtual] |
Load parameters from configuration source.
Implements mrpt::utils::CLoadableOptions.
[AA] The options for the partitioning algorithm
Definition at line 467 of file CHMTSLAM.h.
The default set of maps to be created in each particle.
Definition at line 469 of file CHMTSLAM.h.
The default options for the CMultiMetricMap in each particle.
Definition at line 471 of file CHMTSLAM.h.
Definition at line 475 of file CHMTSLAM.h.
[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.
Definition at line 437 of file CHMTSLAM.h.
[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there.
Definition at line 436 of file CHMTSLAM.h.
[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)
Definition at line 451 of file CHMTSLAM.h.
[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)
Definition at line 448 of file CHMTSLAM.h.
These params are used from every LMH object.
Definition at line 473 of file CHMTSLAM.h.
0 means randomize, use any other value to have repetitive experiments.
Definition at line 477 of file CHMTSLAM.h.
[LSLAM] The method to use for local SLAM
Definition at line 441 of file CHMTSLAM.h.
[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.
Definition at line 445 of file CHMTSLAM.h.
Definition at line 445 of file CHMTSLAM.h.
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 463 of file CHMTSLAM.h.
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 483 of file CHMTSLAM.h.
Options passed to this TLC constructor.
Definition at line 486 of file CHMTSLAM.h.
Options passed to this TLC constructor.
Definition at line 485 of file CHMTSLAM.h.
[VIEW3D] The height of the areas' spheres.
Definition at line 455 of file CHMTSLAM.h.
[VIEW3D] The radius of the areas' spheres.
Definition at line 459 of file CHMTSLAM.h.
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