MRPT  2.0.4
List of all members | Public Member Functions | Static Protected Member Functions
mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions Struct Reference

Detailed Description

Parameters related with inserting observations into the map:

Definition at line 47 of file CWirelessPowerGridMap2D.h.

#include <mrpt/maps/CWirelessPowerGridMap2D.h>

Inheritance diagram for mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions:

Public Member Functions

 TInsertionOptions ()
 Default values loader. More...
 
void loadFromConfigFile (const mrpt::config::CConfigFileBase &source, const std::string &section) override
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (std::ostream &out) const override
 This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream. 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::config::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...
 
void internal_loadFromConfigFile_common (const mrpt::config::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions. More...
 
void internal_dumpToTextStream_common (std::ostream &out) const
 See utils::CLoadableOptions. More...
 

Static Protected Member Functions

static void dumpVar_int (std::ostream &out, const char *varName, int v)
 Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
 
static void dumpVar_float (std::ostream &out, const char *varName, float v)
 
static void dumpVar_double (std::ostream &out, const char *varName, double v)
 
static void dumpVar_bool (std::ostream &out, const char *varName, bool v)
 
static void dumpVar_string (std::ostream &out, const char *varName, const std::string &v)
 

Constructor & Destructor Documentation

◆ TInsertionOptions()

CWirelessPowerGridMap2D::TInsertionOptions::TInsertionOptions ( )
default

Default values loader.

Member Function Documentation

◆ dumpToConsole()

void CLoadableOptions::dumpToConsole ( ) const
inherited

◆ dumpToTextStream()

void CWirelessPowerGridMap2D::TInsertionOptions::dumpToTextStream ( std::ostream &  out) const
overridevirtual

This method should clearly display all the contents of the structure in textual form, sending it to a std::ostream.

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::config::CLoadableOptions.

Definition at line 334 of file CWirelessPowerGridMap2D.cpp.

References mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common(), and out.

◆ dumpVar_bool()

void CLoadableOptions::dumpVar_bool ( std::ostream &  out,
const char *  varName,
bool  v 
)
staticprotectedinherited

Definition at line 62 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

◆ dumpVar_double()

void CLoadableOptions::dumpVar_double ( std::ostream &  out,
const char *  varName,
double  v 
)
staticprotectedinherited

Definition at line 56 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

◆ dumpVar_float()

void CLoadableOptions::dumpVar_float ( std::ostream &  out,
const char *  varName,
float  v 
)
staticprotectedinherited

Definition at line 50 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

◆ dumpVar_int()

void CLoadableOptions::dumpVar_int ( std::ostream &  out,
const char *  varName,
int  v 
)
staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

Definition at line 44 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

◆ dumpVar_string()

void CLoadableOptions::dumpVar_string ( std::ostream &  out,
const char *  varName,
const std::string &  v 
)
staticprotectedinherited

Definition at line 69 of file CLoadableOptions.cpp.

References mrpt::format(), LOADABLEOPTS_COLUMN_WIDTH, and out.

◆ internal_dumpToTextStream_common()

void CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common ( std::ostream &  out) const
inherited

See utils::CLoadableOptions.

Definition at line 689 of file CRandomFieldGridMap2D.cpp.

References mrpt::format(), and out.

Referenced by dumpToTextStream().

◆ internal_loadFromConfigFile_common()

void CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common ( const mrpt::config::CConfigFileBase source,
const std::string &  section 
)
inherited

See utils::CLoadableOptions.

Definition at line 746 of file CRandomFieldGridMap2D.cpp.

References iniFile(), and MRPT_LOAD_CONFIG_VAR.

◆ loadFromConfigFile()

void CWirelessPowerGridMap2D::TInsertionOptions::loadFromConfigFile ( const mrpt::config::CConfigFileBase source,
const std::string &  section 
)
overridevirtual

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::config::CLoadableOptions.

Definition at line 348 of file CWirelessPowerGridMap2D.cpp.

References iniFile().

◆ loadFromConfigFileName()

void 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

Definition at line 22 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams().

◆ saveToConfigFile()

void CLoadableOptions::saveToConfigFile ( mrpt::config::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::maps::TSetOfMetricMapInitializers, mrpt::maps::COccupancyGridMap3D::TInsertionOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::maps::TMapGenericParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::maps::TMetricMapInitializer, mrpt::nav::CPTG_RobotShape_Circular, mrpt::nav::CPTG_RobotShape_Polygonal, mrpt::nav::CParameterizedTrajectoryGenerator, mrpt::nav::CPTG_DiffDrive_CollisionGridBased, mrpt::nav::CPTG_DiffDrive_C, mrpt::nav::CPTG_DiffDrive_alpha, mrpt::nav::CPTG_DiffDrive_CC, mrpt::nav::CPTG_DiffDrive_CCS, mrpt::nav::CPTG_DiffDrive_CS, mrpt::nav::CPTG_Holo_Blend, mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicFullEval::TOptions, mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CMultiObjectiveMotionOptimizerBase::TParamsBase, mrpt::nav::CHolonomicVFF::TOptions, mrpt::nav::CMultiObjMotionOpt_Scalarization::TParams, mrpt::maps::CPointCloudFilterByDistance::TOptions, mrpt::maps::COccupancyGridMap3D::TLikelihoodOptions, mrpt::nav::CAbstractNavigator::TAbstractNavigatorParams, mrpt::nav::CAbstractPTGBasedReactive::TAbstractPTGNavigatorParams, mrpt::nav::CWaypointsNavigator::TWaypointsNavigatorParams, mrpt::nav::CReactiveNavigationSystem::TReactiveNavigatorParams, and mrpt::slam::CICP::TConfigParams.

Definition at line 29 of file CLoadableOptions.cpp.

Referenced by mrpt::config::CLoadableOptions::dumpToTextStream(), and mrpt::config::CLoadableOptions::saveToConfigFileName().

◆ saveToConfigFileName()

void 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

Definition at line 36 of file CLoadableOptions.cpp.

References mrpt::config::CLoadableOptions::saveToConfigFile().

Member Data Documentation

◆ cutoffRadius

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius
inherited

◆ dm_sigma_omega

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega {0.05}
inherited

◆ GMRF_gridmap_image_cx

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cx {0}
inherited

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 305 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_cy

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cy {0}
inherited

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 307 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_file
inherited

image name of the occupancy_gridmap

Definition at line 301 of file CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_res

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_res {0.01f}
inherited

occupancy_gridmap resolution: size of each pixel (m)

Definition at line 303 of file CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObs

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObs {10.0f}
inherited

The initial information (Lambda) of each observation (this information will decrease with time)

Definition at line 291 of file CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObsLoss

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObsLoss {0.0f}
inherited

The loss of information of the observations with each iteration.

Definition at line 293 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_lambdaPrior

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaPrior {0.01f}
inherited

The information (Lambda) of fixed map constraints.

Definition at line 288 of file CRandomFieldGridMap2D.h.

◆ GMRF_saturate_max

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max
inherited

◆ GMRF_saturate_min

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min
inherited

◆ GMRF_simplemap_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_simplemap_file
inherited

simplemap_file name of the occupancy_gridmap

Definition at line 299 of file CRandomFieldGridMap2D.h.

◆ GMRF_skip_variance

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_skip_variance {false}
inherited

(Default:false) Skip the computation of the variance, just compute the mean

Definition at line 313 of file CRandomFieldGridMap2D.h.

Referenced by mrpt::maps::CRandomFieldGridMap2D::updateMapEstimation_GMRF().

◆ GMRF_use_occupancy_information

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_use_occupancy_information {false}
inherited

whether to use information of an occupancy_gridmap map for building the GMRF

Definition at line 297 of file CRandomFieldGridMap2D.h.

◆ KF_covSigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma {0.35f}
inherited

◆ KF_defaultCellMeanValue

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue {0}
inherited

◆ KF_initialCellStd

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd {1.0}
inherited

◆ KF_observationModelNoise

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise {0}
inherited

◆ KF_W_size

uint16_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size {4}
inherited

◆ R_max

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max {3}
inherited

◆ R_min

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min {0}
inherited

◆ sigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma {0.15f}
inherited



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