#include <mrpt/slam/COccupancyGridMap2D.h>
Public Member Functions | |
TInsertionOptions () | |
Initilization of default parameters. | |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
This method load the options from a ".ini" file. | |
void | dumpToTextStream (CStream &out) |
This method must display clearly all the contents of the structure in textual form, sending it to a CStream. | |
Public Attributes | |
float | mapAltitude |
The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map! | |
bool | useMapAltitude |
The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true. | |
float | maxDistanceInsertion |
The largest distance at which cells will be updated (Default 15 meters). | |
float | maxOccupancyUpdateCertainty |
A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8). | |
bool | considerInvalidRangesAsFreeSpace |
If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray. | |
uint16_t | decimation |
Specify the decimation of the range scan (default=1 : take all the range values!). | |
float | horizontalTolerance |
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0). | |
float | CFD_features_gaussian_size |
Gaussian sigma of the filter used in getAsImageFiltered (for "panoramic feature" detection) (Default=1) (0:Disabled). | |
float | CFD_features_median_size |
Size of the Median filter used in getAsImageFiltered (for "panoramic feature" detection) (Default=3) (0:Disabled). | |
bool | wideningBeamsWithDistance |
Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=true). |
Definition at line 618 of file COccupancyGridMap2D.h.
mrpt::slam::COccupancyGridMap2D::TInsertionOptions::TInsertionOptions | ( | ) |
Initilization of default parameters.
void mrpt::slam::COccupancyGridMap2D::TInsertionOptions::dumpToTextStream | ( | CStream & | out | ) | [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::COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, | |
const std::string & | section | |||
) | [virtual] |
This method load the options from a ".ini" file.
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.
Gaussian sigma of the filter used in getAsImageFiltered (for "panoramic feature" detection) (Default=1) (0:Disabled).
Definition at line 673 of file COccupancyGridMap2D.h.
Size of the Median filter used in getAsImageFiltered (for "panoramic feature" detection) (Default=3) (0:Disabled).
Definition at line 676 of file COccupancyGridMap2D.h.
If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray.
Definition at line 663 of file COccupancyGridMap2D.h.
Specify the decimation of the range scan (default=1 : take all the range values!).
Definition at line 667 of file COccupancyGridMap2D.h.
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0).
Definition at line 670 of file COccupancyGridMap2D.h.
The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map!
Definition at line 647 of file COccupancyGridMap2D.h.
The largest distance at which cells will be updated (Default 15 meters).
Definition at line 655 of file COccupancyGridMap2D.h.
A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8).
Definition at line 659 of file COccupancyGridMap2D.h.
The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true.
Definition at line 651 of file COccupancyGridMap2D.h.
Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=true).
Definition at line 678 of file COccupancyGridMap2D.h.
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