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mrpt::slam::CMetricMapBuilderICP::TConfigParams Struct Reference


Detailed Description

Algorithm configuration params.

Definition at line 71 of file CMetricMapBuilderICP.h.

#include <mrpt/slam/CMetricMapBuilderICP.h>

Inheritance diagram for mrpt::slam::CMetricMapBuilderICP::TConfigParams:
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List of all members.

Public Member Functions

 TConfigParams ()
 Initializer.
virtual void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method load the options from a ".ini"-like file or memory-stored string list.
virtual 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

bool matchAgainstTheGrid
 (default:false) Match against the occupancy grid or the points map? The former is quicker but less precise.
double insertionLinDistance
 Minimum robot linear (m) displacement for a new observation to be inserted in the map.
double insertionAngDistance
 Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map.
double localizationLinDistance
 Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).
double localizationAngDistance
 Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).
double minICPgoodnessToAccept
 Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40)
TSetOfMetricMapInitializers mapInitializers
 What maps to create (at least one points map and/or a grid map are needed).

Constructor & Destructor Documentation

mrpt::slam::CMetricMapBuilderICP::TConfigParams::TConfigParams (  )

Initializer.


Member Function Documentation

virtual void mrpt::slam::CMetricMapBuilderICP::TConfigParams::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.

virtual void mrpt::slam::CMetricMapBuilderICP::TConfigParams::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]

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

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,...
See also:
loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.


Member Data Documentation

Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map.

Definition at line 84 of file CMetricMapBuilderICP.h.

Minimum robot linear (m) displacement for a new observation to be inserted in the map.

Definition at line 83 of file CMetricMapBuilderICP.h.

Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).

Definition at line 86 of file CMetricMapBuilderICP.h.

Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).

Definition at line 85 of file CMetricMapBuilderICP.h.

What maps to create (at least one points map and/or a grid map are needed).

For the expected format in the .ini file when loaded with loadFromConfigFile(), see documentation of TSetOfMetricMapInitializers.

Definition at line 93 of file CMetricMapBuilderICP.h.

(default:false) Match against the occupancy grid or the points map? The former is quicker but less precise.

Definition at line 81 of file CMetricMapBuilderICP.h.

Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40)

Definition at line 88 of file CMetricMapBuilderICP.h.




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