Configuration of the algorithm:
Definition at line 76 of file CIncrementalMapPartitioner.h.
#include <mrpt/slam/CIncrementalMapPartitioner.h>
Public Member Functions | |
TOptions () | |
Sets default values at object creation. | |
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 | |
float | partitionThreshold |
The partition threshold for bisection in range [0,2], default=1.0. | |
float | gridResolution |
For the occupancy grid maps of each node, default=0.10. | |
float | minDistForCorrespondence |
Used in the computation of weights, default=0.20. | |
float | minMahaDistForCorrespondence |
Used in the computation of weights, default=2.0. | |
bool | forceBisectionOnly |
If set to true (default), 1 or 2 clusters will be returned. | |
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. | |
bool | debugSaveAllEigenvectors |
This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES. | |
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). |
mrpt::slam::CIncrementalMapPartitioner::TOptions::TOptions | ( | ) |
Sets default values at object creation.
void mrpt::slam::CIncrementalMapPartitioner::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::slam::CIncrementalMapPartitioner::TOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) | [virtual] |
Load parameters from configuration source.
Implements mrpt::utils::CLoadableOptions.
This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES.
Definition at line 118 of file CIncrementalMapPartitioner.h.
If set to true (default), 1 or 2 clusters will be returned.
Default=false -> Autodetermine the number of partitions.
Definition at line 110 of file CIncrementalMapPartitioner.h.
For the occupancy grid maps of each node, default=0.10.
Definition at line 98 of file CIncrementalMapPartitioner.h.
Used in the computation of weights, default=0.20.
Definition at line 102 of file CIncrementalMapPartitioner.h.
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 121 of file CIncrementalMapPartitioner.h.
Used in the computation of weights, default=2.0.
Definition at line 106 of file CIncrementalMapPartitioner.h.
The partition threshold for bisection in range [0,2], default=1.0.
Definition at line 94 of file CIncrementalMapPartitioner.h.
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 114 of file CIncrementalMapPartitioner.h.
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