Algorithm configuration params.
Definition at line 71 of file CMetricMapBuilderICP.h.
#include <mrpt/slam/CMetricMapBuilderICP.h>
Public Member Functions | |
TConfigParams () | |
Initializer. | |
virtual 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. | |
virtual 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 | |
bool | matchAgainstTheGrid |
(default:false) Match against the occupancy grid or the points map? The former is quicker but less precise. | |
double | insertionLinDistance |
Minimum robot linear (m) displacement for a new observation to be inserted in the map. | |
double | insertionAngDistance |
Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map. | |
double | localizationLinDistance |
Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry). | |
double | localizationAngDistance |
Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry). | |
double | minICPgoodnessToAccept |
Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40) | |
TSetOfMetricMapInitializers | mapInitializers |
What maps to create (at least one points map and/or a grid map are needed). |
mrpt::slam::CMetricMapBuilderICP::TConfigParams::TConfigParams | ( | ) |
Initializer.
virtual void mrpt::slam::CMetricMapBuilderICP::TConfigParams::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.
virtual void mrpt::slam::CMetricMapBuilderICP::TConfigParams::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) | [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:
[section] resolution=0.10 ; blah blah... modeSelection=1 ; 0=blah, 1=blah,...
Implements mrpt::utils::CLoadableOptions.
Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map.
Definition at line 84 of file CMetricMapBuilderICP.h.
Minimum robot linear (m) displacement for a new observation to be inserted in the map.
Definition at line 83 of file CMetricMapBuilderICP.h.
Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).
Definition at line 86 of file CMetricMapBuilderICP.h.
Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).
Definition at line 85 of file CMetricMapBuilderICP.h.
What maps to create (at least one points map and/or a grid map are needed).
For the expected format in the .ini file when loaded with loadFromConfigFile(), see documentation of TSetOfMetricMapInitializers.
Definition at line 93 of file CMetricMapBuilderICP.h.
(default:false) Match against the occupancy grid or the points map? The former is quicker but less precise.
Definition at line 81 of file CMetricMapBuilderICP.h.
Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40)
Definition at line 88 of file CMetricMapBuilderICP.h.
Page generated by Doxygen 1.7.3 for MRPT 0.9.4 SVN: at Sat Mar 26 06:40:17 UTC 2011 |