Struct for holding the optimization-related variables in a compact form.
Definition at line 161 of file CLevMarqGSO.h.
#include <mrpt/graphslam/GSO/CLevMarqGSO.h>
Public Member Functions | |
OptimizationParams () | |
~OptimizationParams () | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
This method load the options from a ".ini"-like file or memory-stored string list. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More... | |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
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 §ion) 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 §ion) 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 | |
mrpt::utils::TParametersDouble | cfg |
bool | optimization_on_second_thread |
double | optimization_distance |
optimize only for the nodes found in a certain distance from the current position. More... | |
double | offset_y_optimization_distance |
int | text_index_optimization_distance |
mrpt::utils::TColor | optimization_distance_color |
std::string | keystroke_optimization_distance |
Keystroke to toggle the optimization distance on/off. More... | |
std::string | keystroke_optimize_graph |
Keystroke to manually trigger a full graph optimization. More... | |
int | LC_min_nodeid_diff |
GRAPH_T::edges_map_t | last_pair_nodes_to_edge |
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) |
mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::OptimizationParams | ( | ) |
Definition at line 685 of file CLevMarqGSO_impl.h.
mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::~OptimizationParams | ( | ) |
Definition at line 691 of file CLevMarqGSO_impl.h.
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inherited |
Just like dumpToTextStream() but sending the text to the console (std::cout)
Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::printParams(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::printParams(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::printParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::printParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::printParams().
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virtual |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented from mrpt::utils::CLoadableOptions.
Definition at line 694 of file CLevMarqGSO_impl.h.
References mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::cfg, mrpt::utils::TParameters< T >::getAsString(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::LC_min_nodeid_diff, MRPT_END, MRPT_START, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_distance, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_on_second_thread, and mrpt::utils::CStream::printf().
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
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staticprotectedinherited |
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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:
Implements mrpt::utils::CLoadableOptions.
Definition at line 710 of file CLevMarqGSO_impl.h.
References ASSERTMSG_, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::cfg, exprtk::details::numeric::constant::e, mrpt::format(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::LC_min_nodeid_diff, MRPT_END, MRPT_START, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_distance, mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_on_second_thread, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), and mrpt::utils::CConfigFileBase::read_int().
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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.
Referenced by mrpt::graphslam::deciders::CRangeScanEdgeRegistrationDecider< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::loadParams(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::loadParams().
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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, and mrpt::nav::CPTG_Holo_Blend.
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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.
mrpt::utils::TParametersDouble mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::cfg |
Definition at line 171 of file CLevMarqGSO.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::_optimizeGraph(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::dumpToTextStream(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::loadFromConfigFile().
std::string mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::keystroke_optimization_distance |
Keystroke to toggle the optimization distance on/off.
Definition at line 183 of file CLevMarqGSO.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::notifyOfWindowEvents().
std::string mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::keystroke_optimize_graph |
Keystroke to manually trigger a full graph optimization.
Definition at line 185 of file CLevMarqGSO.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::notifyOfWindowEvents().
GRAPH_T::edges_map_t mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::last_pair_nodes_to_edge |
Definition at line 192 of file CLevMarqGSO.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::checkForLoopClosures(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateState().
int mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::LC_min_nodeid_diff |
Definition at line 188 of file CLevMarqGSO.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::checkForLoopClosures(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::dumpToTextStream(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::loadFromConfigFile().
double mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::offset_y_optimization_distance |
Definition at line 179 of file CLevMarqGSO.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization().
double mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_distance |
optimize only for the nodes found in a certain distance from the current position.
Optimize for the entire graph if set to -1
Definition at line 178 of file CLevMarqGSO.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::_optimizeGraph(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::checkForFullOptimization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualizationInternal(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::loadFromConfigFile(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::notifyOfWindowEvents(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateVisuals().
mrpt::utils::TColor mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_distance_color |
Definition at line 181 of file CLevMarqGSO.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualizationInternal().
bool mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::optimization_on_second_thread |
Definition at line 173 of file CLevMarqGSO.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::dumpToTextStream(), mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::loadFromConfigFile(), and mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::updateState().
int mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::OptimizationParams::text_index_optimization_distance |
Definition at line 180 of file CLevMarqGSO.h.
Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::initOptDistanceVisualization().
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