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mrpt::maps::CBeaconMap::TInsertionOptions Struct Reference

Detailed Description

This struct contains data for choosing the method by which new beacons are inserted in the map.

Definition at line 135 of file maps/CBeaconMap.h.

#include <mrpt/maps/CBeaconMap.h>

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

Public Member Functions

 TInsertionOptions ()
 Initilization of default parameters. 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...
 

Public Attributes

bool insertAsMonteCarlo
 Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon). More...
 
float maxElevation_deg
 Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90. More...
 
float minElevation_deg
 
unsigned int MC_numSamplesPerMeter
 Number of particles per meter of range, i.e. More...
 
float MC_maxStdToGauss
 The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4). More...
 
float MC_thresholdNegligible
 Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5). More...
 
bool MC_performResampling
 If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion. More...
 
float MC_afterResamplingNoise
 The std.dev. More...
 
float SOG_thresholdNegligible
 Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20). More...
 
float SOG_maxDistBetweenGaussians
 A parameter for initializing 2D/3D SOGs. More...
 
float SOG_separationConstant
 Constant used to compute the std. 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

mrpt::maps::CBeaconMap::TInsertionOptions::TInsertionOptions ( )

Initilization of default parameters.

Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

void mrpt::maps::CBeaconMap::TInsertionOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual
static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
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.

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited
void mrpt::maps::CBeaconMap::TInsertionOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)
virtual
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
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.

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

bool mrpt::maps::CBeaconMap::TInsertionOptions::insertAsMonteCarlo

Insert a new beacon as a set of montecarlo samples (default=true), or, if false, as a sum of gaussians (see mrpt::maps::CBeacon).

See also
MC_performResampling

Definition at line 155 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::maxElevation_deg

Minimum and maximum elevation angles (in degrees) for inserting new beacons at the first observation: the default values (both 0), makes the beacons to be in the same horizontal plane that the sensors, that is, 2D SLAM - the min/max values are -90/90.

Definition at line 159 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::MC_afterResamplingNoise

The std.dev.

of the Gaussian noise to be added to each sample after resampling, only if MC_performResampling=true.

Definition at line 179 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::MC_maxStdToGauss

The threshold for the maximum std (X,Y,and Z) before colapsing the particles into a Gaussian PDF (default=0,4).

Definition at line 167 of file maps/CBeaconMap.h.

unsigned int mrpt::maps::CBeaconMap::TInsertionOptions::MC_numSamplesPerMeter

Number of particles per meter of range, i.e.

per meter of the "radius of the ring".

Definition at line 163 of file maps/CBeaconMap.h.

bool mrpt::maps::CBeaconMap::TInsertionOptions::MC_performResampling

If set to false (default), the samples will be generated the first time a beacon is observed, and their weights just updated subsequently - if set to "true", fewer samples will be required since the particles will be resamples when necessary, and a small "noise" will be added to avoid depletion.

Definition at line 175 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::MC_thresholdNegligible

Threshold for the maximum difference from the maximun (log) weight in the set of samples for erasing a given sample (default=5).

Definition at line 171 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::minElevation_deg

Definition at line 159 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_maxDistBetweenGaussians

A parameter for initializing 2D/3D SOGs.

Definition at line 187 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_separationConstant

Constant used to compute the std.

dev. int the tangent direction when creating the Gaussians.

Definition at line 191 of file maps/CBeaconMap.h.

float mrpt::maps::CBeaconMap::TInsertionOptions::SOG_thresholdNegligible

Threshold for the maximum difference from the maximun (log) weight in the SOG for erasing a given mode (default=20).

Definition at line 183 of file maps/CBeaconMap.h.




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