mrpt::hmtslam::CHMTSLAM::TOptions Struct Reference

A variety of options and configuration params (private, use loadOptions). More...

#include <mrpt/hmtslam/CHMTSLAM.h>

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List of all members.

Public Member Functions
	TOptions ()
	Initialization of default params.
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	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
std::string	LOG_OUTPUT_DIR
	[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there.
int	LOG_FREQUENCY
	[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.
bool	LOG_SHOW3D
	[LOGGING] Display 3D view in real-time
TLSlamMethod	SLAM_METHOD
	[LSLAM] The method to use for local SLAM
float	SLAM_MIN_DIST_BETWEEN_OBS
	[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.
float	SLAM_MIN_HEADING_BETWEEN_OBS
float	MIN_ODOMETRY_STD_XY
	[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)
float	MIN_ODOMETRY_STD_PHI
	[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)
float	VIEW3D_AREA_SPHERES_HEIGHT
	[VIEW3D] The height of the areas' spheres.
float	VIEW3D_AREA_SPHERES_RADIUS
	[VIEW3D] The radius of the areas' spheres.
vector_float	stds_Q_no_odo
	A 3-length vector with the std.
CIncrementalMapPartitioner::TOptions	AA_options
	[AA] The options for the partitioning algorithm
TSetOfMetricMapInitializers	defaultMapsInitializers
	The default set of maps to be created in each particle.
CMultiMetricMap::TOptions	defaultMapsOptions
	The default options for the CMultiMetricMap in each particle.
bayes::CParticleFilter::TParticleFilterOptions	pf_options
	These params are used from every LMH object.
TKLDParams	KLD_params
int	random_seed
	0 means randomize, use any other value to have repetitive experiments.
vector_string	TLC_detectors
	A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching.
CTopLCDetector_GridMatching::TOptions	TLC_grid_options
	Options passed to this TLC constructor.
CTopLCDetector_FabMap::TOptions	TLC_fabmap_options
	Options passed to this TLC constructor.

Detailed Description

A variety of options and configuration params (private, use loadOptions).

Definition at line 427 of file CHMTSLAM.h.

Constructor & Destructor Documentation

mrpt::hmtslam::CHMTSLAM::TOptions::TOptions ( )

Initialization of default params.

Member Function Documentation

void mrpt::hmtslam::CHMTSLAM::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::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)			`[virtual]`

Load parameters from configuration source.

Implements mrpt::utils::CLoadableOptions.

Member Data Documentation

CIncrementalMapPartitioner::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::AA_options

[AA] The options for the partitioning algorithm

Definition at line 476 of file CHMTSLAM.h.

TSetOfMetricMapInitializers mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers

The default set of maps to be created in each particle.

Definition at line 478 of file CHMTSLAM.h.

CMultiMetricMap::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsOptions

The default options for the CMultiMetricMap in each particle.

Definition at line 480 of file CHMTSLAM.h.

TKLDParams mrpt::hmtslam::CHMTSLAM::TOptions::KLD_params

Definition at line 484 of file CHMTSLAM.h.

int mrpt::hmtslam::CHMTSLAM::TOptions::LOG_FREQUENCY

[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated.

Definition at line 445 of file CHMTSLAM.h.

std::string mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR

[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there.

Definition at line 444 of file CHMTSLAM.h.

bool mrpt::hmtslam::CHMTSLAM::TOptions::LOG_SHOW3D

[LOGGING] Display 3D view in real-time

Definition at line 446 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_PHI

[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0)

Definition at line 460 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_XY

[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0)

Definition at line 457 of file CHMTSLAM.h.

bayes::CParticleFilter::TParticleFilterOptions mrpt::hmtslam::CHMTSLAM::TOptions::pf_options

These params are used from every LMH object.

Definition at line 482 of file CHMTSLAM.h.

int mrpt::hmtslam::CHMTSLAM::TOptions::random_seed

0 means randomize, use any other value to have repetitive experiments.

Definition at line 486 of file CHMTSLAM.h.

TLSlamMethod mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_METHOD

[LSLAM] The method to use for local SLAM

Definition at line 450 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_DIST_BETWEEN_OBS

[LSLAM] Minimum distance (and heading) difference between observations inserted in the map.

Definition at line 454 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::SLAM_MIN_HEADING_BETWEEN_OBS

Definition at line 454 of file CHMTSLAM.h.

vector_float mrpt::hmtslam::CHMTSLAM::TOptions::stds_Q_no_odo

A 3-length vector with the std.

deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!)

Definition at line 472 of file CHMTSLAM.h.

vector_string mrpt::hmtslam::CHMTSLAM::TOptions::TLC_detectors

A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching.

'fabmap': Mark Cummins' image matching framework.

Definition at line 492 of file CHMTSLAM.h.

CTopLCDetector_FabMap::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options

Options passed to this TLC constructor.

Definition at line 495 of file CHMTSLAM.h.

CTopLCDetector_GridMatching::TOptions mrpt::hmtslam::CHMTSLAM::TOptions::TLC_grid_options

Options passed to this TLC constructor.

Definition at line 494 of file CHMTSLAM.h.

float mrpt::hmtslam::CHMTSLAM::TOptions::VIEW3D_AREA_SPHERES_HEIGHT