mrpt::slam::CIncrementalMapPartitioner::TOptions Struct Reference

Configuration of the algorithm:. More...

#include <mrpt/slam/CIncrementalMapPartitioner.h>

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List of all members.

Public Member Functions
	TOptions ()
	Sets default values at object creation.
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
float	partitionThreshold
	The partition threshold for bisection in range [0,2], default=1.0.
float	gridResolution
	For the occupancy grid maps of each node, default=0.10.
float	minDistForCorrespondence
	Used in the computation of weights, default=0.20.
float	minMahaDistForCorrespondence
	Used in the computation of weights, default=2.0.
bool	forceBisectionOnly
	If set to true (default), 1 or 2 clusters will be returned.
bool	useMapMatching
	If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.
bool	debugSaveAllEigenvectors
	This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES.
int	minimumNumberElementsEachCluster
	If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).

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Detailed Description

Configuration of the algorithm:.

Definition at line 76 of file CIncrementalMapPartitioner.h.

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Constructor & Destructor Documentation

mrpt::slam::CIncrementalMapPartitioner::TOptions::TOptions

(

)

Sets default values at object creation.

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Member Function Documentation

void mrpt::slam::CIncrementalMapPartitioner::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::slam::CIncrementalMapPartitioner::TOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)			[virtual]

Load parameters from configuration source.

Implements mrpt::utils::CLoadableOptions.

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Member Data Documentation

bool mrpt::slam::CIncrementalMapPartitioner::TOptions::debugSaveAllEigenvectors

This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES.

Definition at line 118 of file CIncrementalMapPartitioner.h.

bool mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly

If set to true (default), 1 or 2 clusters will be returned.

Default=false -> Autodetermine the number of partitions.

Definition at line 110 of file CIncrementalMapPartitioner.h.

float mrpt::slam::CIncrementalMapPartitioner::TOptions::gridResolution

For the occupancy grid maps of each node, default=0.10.

Definition at line 98 of file CIncrementalMapPartitioner.h.

float mrpt::slam::CIncrementalMapPartitioner::TOptions::minDistForCorrespondence

Used in the computation of weights, default=0.20.

Definition at line 102 of file CIncrementalMapPartitioner.h.

int mrpt::slam::CIncrementalMapPartitioner::TOptions::minimumNumberElementsEachCluster

If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).

Definition at line 121 of file CIncrementalMapPartitioner.h.

float mrpt::slam::CIncrementalMapPartitioner::TOptions::minMahaDistForCorrespondence

Used in the computation of weights, default=2.0.

Definition at line 106 of file CIncrementalMapPartitioner.h.

float mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold

The partition threshold for bisection in range [0,2], default=1.0.

Definition at line 94 of file CIncrementalMapPartitioner.h.

bool mrpt::slam::CIncrementalMapPartitioner::TOptions::useMapMatching

If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.

Definition at line 114 of file CIncrementalMapPartitioner.h.