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mrpt::maps::TSetOfMetricMapInitializers Class Reference

Detailed Description

A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and "CMultiMetricMap::setListOfMaps" for effectively creating the list of desired maps.

See also
CMultiMetricMap::CMultiMetricMap, utils::CLoadableOptions

Definition at line 71 of file TMetricMapInitializer.h.

#include <mrpt/maps/TMetricMapInitializer.h>

Inheritance diagram for mrpt::maps::TSetOfMetricMapInitializers:
Inheritance graph

Public Types

typedef std::deque< TMetricMapInitializerPtr >::iterator iterator
 
typedef std::deque< TMetricMapInitializerPtr >::const_iterator const_iterator
 

Public Member Functions

 TSetOfMetricMapInitializers ()
 
template<typename MAP_DEFINITION >
void push_back (const MAP_DEFINITION &o)
 
void push_back (const TMetricMapInitializerPtr &o)
 
size_t size () const
 
iterator begin ()
 
iterator end ()
 
const_iterator begin () const
 
const_iterator end () const
 
void clear ()
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &sectionName) MRPT_OVERRIDE
 Loads the configuration for the set of internal maps from a textual definition in an INI-like file. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 This method dumps the options of the multi-metric map AND those of every internal map. 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...
 

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)
 

Protected Attributes

std::deque< TMetricMapInitializerPtrm_list
 

Member Typedef Documentation

◆ const_iterator

Definition at line 87 of file TMetricMapInitializer.h.

◆ iterator

Definition at line 86 of file TMetricMapInitializer.h.

Constructor & Destructor Documentation

◆ TSetOfMetricMapInitializers()

mrpt::maps::TSetOfMetricMapInitializers::TSetOfMetricMapInitializers ( )
inline

Definition at line 77 of file TMetricMapInitializer.h.

Member Function Documentation

◆ begin() [1/2]

iterator mrpt::maps::TSetOfMetricMapInitializers::begin ( )
inline

Definition at line 88 of file TMetricMapInitializer.h.

◆ begin() [2/2]

const_iterator mrpt::maps::TSetOfMetricMapInitializers::begin ( ) const
inline

Definition at line 90 of file TMetricMapInitializer.h.

◆ clear()

void mrpt::maps::TSetOfMetricMapInitializers::clear ( )
inline

Definition at line 92 of file TMetricMapInitializer.h.

◆ dumpToConsole()

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

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

◆ dumpToTextStream()

void mrpt::maps::TSetOfMetricMapInitializers::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

This method dumps the options of the multi-metric map AND those of every internal map.

Reimplemented from mrpt::utils::CLoadableOptions.

◆ dumpVar_bool()

static void mrpt::utils::CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited

◆ dumpVar_double()

static void mrpt::utils::CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited

◆ dumpVar_float()

static void mrpt::utils::CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited

◆ dumpVar_int()

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.

◆ dumpVar_string()

static void mrpt::utils::CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited

◆ end() [1/2]

iterator mrpt::maps::TSetOfMetricMapInitializers::end ( )
inline

Definition at line 89 of file TMetricMapInitializer.h.

◆ end() [2/2]

const_iterator mrpt::maps::TSetOfMetricMapInitializers::end ( ) const
inline

Definition at line 91 of file TMetricMapInitializer.h.

◆ loadFromConfigFile()

void mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  sectionName 
)
virtual

Loads the configuration for the set of internal maps from a textual definition in an INI-like file.

The format of the ini file is defined in utils::CConfigFile. The list of maps and their options will be loaded from a handle of sections:

[<sectionName>]
// Creation of maps:
occupancyGrid_count=<Number of mrpt::maps::COccupancyGridMap2D maps>
octoMap_count=<Number of mrpt::maps::COctoMap maps>
colourOctoMap_count=<Number of mrpt::slam::CColourOctoMap maps>
gasGrid_count=<Number of mrpt::maps::CGasConcentrationGridMap2D maps>
wifiGrid_count=<Number of mrpt::maps::CWirelessPowerGridMap2D maps>
landmarksMap_count=<0 or 1, for creating a mrpt::maps::CLandmarksMap map>
beaconMap_count=<0 or 1, for creating a mrpt::maps::CBeaconMap map>
pointsMap_count=<Number of mrpt::maps::CSimplePointsMap map>
heightMap_count=<Number of mrpt::maps::CHeightGridMap2D maps>
reflectivityMap_count=<Number of mrpt::maps::CReflectivityGridMap2D maps>
colourPointsMap_count=<0 or 1, for creating a mrpt::maps::CColouredPointsMap map>
weightedPointsMap_count=<0 or 1, for creating a mrpt::maps::CWeightedPointsMap map>
// ====================================================
// Creation Options for OccupancyGridMap ##:
[<sectionName>+"_occupancyGrid_##_creationOpts"]
min_x=<value>
max_x=<value>
min_y=<value>
max_y=<value>
resolution=<value>
# Common params for all maps:
#enableSaveAs3DObject = {true|false}
#enableObservationLikelihood = {true|false}
#enableObservationInsertion = {true|false}
// Insertion Options for OccupancyGridMap ##:
[<sectionName>+"_occupancyGrid_##_insertOpts"]
// Likelihood Options for OccupancyGridMap ##:
[<sectionName>+"_occupancyGrid_##_likelihoodOpts"]
// ====================================================
// Creation Options for OctoMap ##:
[<sectionName>+"_octoMap_##_creationOpts"]
resolution=<value>
// Insertion Options for OctoMap ##:
[<sectionName>+"_octoMap_##_insertOpts"]
<See COctoMap::TInsertionOptions>
// Likelihood Options for OctoMap ##:
[<sectionName>+"_octoMap_##_likelihoodOpts"]
<See COctoMap::TLikelihoodOptions>
// ====================================================
// Creation Options for ColourOctoMap ##:
[<sectionName>+"_colourOctoMap_##_creationOpts"]
resolution=<value>
// Insertion Options for ColourOctoMap ##:
[<sectionName>+"_colourOctoMap_##_insertOpts"]
<See CColourOctoMap::TInsertionOptions>
// Likelihood Options for ColourOctoMap ##:
[<sectionName>+"_colourOctoMap_##_likelihoodOpts"]
<See CColourOctoMap::TLikelihoodOptions>
// ====================================================
// Insertion Options for mrpt::maps::CSimplePointsMap ##:
[<sectionName>+"_pointsMap_##_insertOpts"]
// Likelihood Options for mrpt::maps::CSimplePointsMap ##:
[<sectionName>+"_pointsMap_##_likelihoodOpts"]
// ====================================================
// Creation Options for CGasConcentrationGridMap2D ##:
[<sectionName>+"_gasGrid_##_creationOpts"]
min_x=<value>
max_x=<value>
min_y=<value>
max_y=<value>
resolution=<value>
// Insertion Options for CGasConcentrationGridMap2D ##:
[<sectionName>+"_gasGrid_##_insertOpts"]
// ====================================================
// Creation Options for CWirelessPowerGridMap2D ##:
[<sectionName>+"_wifiGrid_##_creationOpts"]
min_x=<value>
max_x=<value>
min_y=<value>
max_y=<value>
resolution=<value>
// Insertion Options for CWirelessPowerGridMap2D ##:
[<sectionName>+"_wifiGrid_##_insertOpts"]
// ====================================================
// Creation Options for CLandmarksMap ##:
[<sectionName>+"_landmarksMap_##_creationOpts"]
nBeacons=<# of beacons>
beacon_001_ID=67 ; The ID and 3D coordinates of each beacon
beacon_001_X=<x>
beacon_001_Y=<x>
beacon_001_Z=<x>
// Insertion Options for CLandmarksMap ##:
[<sectionName>+"_landmarksMap_##_insertOpts"]
// Likelihood Options for CLandmarksMap ##:
[<sectionName>+"_landmarksMap_##_likelihoodOpts"]
// ====================================================
// Insertion Options for CBeaconMap ##:
[<sectionName>+"_beaconMap_##_insertOpts"]
// Likelihood Options for CBeaconMap ##:
[<sectionName>+"_beaconMap_##_likelihoodOpts"]
// ====================================================
// Creation Options for HeightGridMap ##:
[<sectionName>+"_heightGrid_##_creationOpts"]
mapType= <0-1> // See CHeightGridMap2D::CHeightGridMap2D
min_x=<value>
max_x=<value>
min_y=<value>
max_y=<value>
resolution=<value>
// Insertion Options for HeightGridMap ##:
[<sectionName>+"_heightGrid_##_insertOpts"]
// ====================================================
// Creation Options for ReflectivityGridMap ##:
[<sectionName>+"_reflectivityGrid_##_creationOpts"]
min_x=<value> // See CReflectivityGridMap2D::CReflectivityGridMap2D
max_x=<value>
min_y=<value>
max_y=<value>
resolution=<value>
// Insertion Options for HeightGridMap ##:
[<sectionName>+"_reflectivityGrid_##_insertOpts"]
// ====================================================
// Insertion Options for CColouredPointsMap ##:
[<sectionName>+"_colourPointsMap_##_insertOpts"]
// Color Options for CColouredPointsMap ##:
[<sectionName>+"_colourPointsMap_##_colorOpts"]
// Likelihood Options for mrpt::maps::CSimplePointsMap ##:
[<sectionName>+"_colourPointsMap_##_likelihoodOpts"]
// ====================================================
// Insertion Options for CWeightedPointsMap ##:
[<sectionName>+"_weightedPointsMap_##_insertOpts"]
// Likelihood Options for CWeightedPointsMap ##:
[<sectionName>+"_weightedPointsMap_##_likelihoodOpts"]
A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian,...
A map of 2D/3D points with individual colours (RGB).
CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area.
CGasConcentrationGridMap2D(TMapRepresentation mapType=mrAchim, float x_min=-2, float x_max=2, float y_min=-2, float y_max=2, float resolution=0.1)
Constructor.
Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated h...
A class for storing a map of 3D probabilistic landmarks.
With this struct options are provided to the observation insertion process.
With this struct options are provided to the observation likelihood computation process.
A class for storing an occupancy grid map.
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
Definition: maps/COctoMap.h:36
A 2D grid map representing the reflectivity of the environment (for example, measured with an IR prox...
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans.
CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area.
CWirelessPowerGridMap2D(TMapRepresentation mapType=mrKernelDM, double x_min=-2, double x_max=2, double y_min=-2, double y_max=2, double resolution=0.1)
Constructor.
This struct contains data for choosing the method by which new beacons are inserted in the map.
With this struct options are provided to the likelihood computations.
The definition of parameters for generating colors from laser scans.
Parameters related with inserting observations into the map:
Parameters related with inserting observations into the map.
With this struct options are provided to the observation insertion process.
With this struct options are provided to the likelihood computations.
With this struct options are provided to the observation insertion process.
Options used when evaluating "computeObservationLikelihood" in the derived classes.
Parameters related with inserting observations into the map.
Parameters related with inserting observations into the map:

Where:

  • ##: Represents the index of the map (e.g. "00","01",...)
  • By default, the variables into each "TOptions" structure of the maps are defined in textual form by the same name of the corresponding C++ variable (e.g. "float resolution;" -> "resolution=0.10")
Note
Examples of map definitions can be found in the '.ini' files provided in the demo directories: "share/mrpt/config-files/"

Implements mrpt::utils::CLoadableOptions.

◆ loadFromConfigFileName()

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

◆ push_back() [1/2]

template<typename MAP_DEFINITION >
void mrpt::maps::TSetOfMetricMapInitializers::push_back ( const MAP_DEFINITION &  o)
inline

Definition at line 81 of file TMetricMapInitializer.h.

◆ push_back() [2/2]

void mrpt::maps::TSetOfMetricMapInitializers::push_back ( const TMetricMapInitializerPtr o)
inline

Definition at line 83 of file TMetricMapInitializer.h.

◆ saveToConfigFile()

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::nav::CHolonomicND::TOptions, mrpt::nav::CHolonomicVFF::TOptions, mrpt::vision::TMultiResDescMatchOptions, and mrpt::vision::TMultiResDescOptions.

◆ saveToConfigFileName()

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

◆ size()

size_t mrpt::maps::TSetOfMetricMapInitializers::size ( ) const
inline

Definition at line 85 of file TMetricMapInitializer.h.

Member Data Documentation

◆ m_list

std::deque<TMetricMapInitializerPtr> mrpt::maps::TSetOfMetricMapInitializers::m_list
protected

Definition at line 74 of file TMetricMapInitializer.h.




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