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


Detailed Description

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

Definition at line 435 of file CHMTSLAM.h.

#include <mrpt/hmtslam/CHMTSLAM.h>

Inheritance diagram for mrpt::hmtslam::CHMTSLAM::TOptions:
Inheritance graph
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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.
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.

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

[AA] The options for the partitioning algorithm

Definition at line 483 of file CHMTSLAM.h.

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

Definition at line 485 of file CHMTSLAM.h.

The default options for the CMultiMetricMap in each particle.

Definition at line 487 of file CHMTSLAM.h.

Definition at line 491 of file CHMTSLAM.h.

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

Definition at line 453 of file CHMTSLAM.h.

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

Definition at line 452 of file CHMTSLAM.h.

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

Definition at line 467 of file CHMTSLAM.h.

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

Definition at line 464 of file CHMTSLAM.h.

These params are used from every LMH object.

Definition at line 489 of file CHMTSLAM.h.

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

Definition at line 493 of file CHMTSLAM.h.

[LSLAM] The method to use for local SLAM

Definition at line 457 of file CHMTSLAM.h.

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

Definition at line 461 of file CHMTSLAM.h.

Definition at line 461 of file CHMTSLAM.h.

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 479 of file CHMTSLAM.h.

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 499 of file CHMTSLAM.h.

Options passed to this TLC constructor.

Definition at line 502 of file CHMTSLAM.h.

Options passed to this TLC constructor.

Definition at line 501 of file CHMTSLAM.h.

[VIEW3D] The height of the areas' spheres.

Definition at line 471 of file CHMTSLAM.h.

[VIEW3D] The radius of the areas' spheres.

Definition at line 475 of file CHMTSLAM.h.




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