Algorithm configuration params.
Definition at line 41 of file CMetricMapBuilderICP.h.
#include <mrpt/slam/CMetricMapBuilderICP.h>
|
static void | dumpVar_int (CStream &out, const char *varName, int v) |
| Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
|
|
static void | dumpVar_float (CStream &out, const char *varName, float v) |
|
static void | dumpVar_double (CStream &out, const char *varName, double v) |
|
static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
|
static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
|
◆ TConfigParams()
mrpt::slam::CMetricMapBuilderICP::TConfigParams::TConfigParams |
( |
| ) |
|
◆ dumpToConsole()
void mrpt::utils::CLoadableOptions::dumpToConsole |
( |
| ) |
const |
|
inherited |
◆ dumpToTextStream()
void mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream |
( |
mrpt::utils::CStream & |
out | ) |
const |
|
virtual |
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented from mrpt::utils::CLoadableOptions.
◆ dumpVar_bool()
static void mrpt::utils::CLoadableOptions::dumpVar_bool |
( |
CStream & |
out, |
|
|
const char * |
varName, |
|
|
bool |
v |
|
) |
| |
|
staticprotectedinherited |
◆ dumpVar_double()
static void mrpt::utils::CLoadableOptions::dumpVar_double |
( |
CStream & |
out, |
|
|
const char * |
varName, |
|
|
double |
v |
|
) |
| |
|
staticprotectedinherited |
◆ dumpVar_float()
static void mrpt::utils::CLoadableOptions::dumpVar_float |
( |
CStream & |
out, |
|
|
const char * |
varName, |
|
|
float |
v |
|
) |
| |
|
staticprotectedinherited |
◆ dumpVar_int()
static void mrpt::utils::CLoadableOptions::dumpVar_int |
( |
CStream & |
out, |
|
|
const char * |
varName, |
|
|
int |
v |
|
) |
| |
|
staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
◆ dumpVar_string()
static void mrpt::utils::CLoadableOptions::dumpVar_string |
( |
CStream & |
out, |
|
|
const char * |
varName, |
|
|
const std::string & |
v |
|
) |
| |
|
staticprotectedinherited |
◆ loadFromConfigFile()
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
modeSelection = 1
- See also
- loadFromConfigFileName, saveToConfigFile
Implements mrpt::utils::CLoadableOptions.
◆ loadFromConfigFileName()
void mrpt::utils::CLoadableOptions::loadFromConfigFileName |
( |
const std::string & |
config_file, |
|
|
const std::string & |
section |
|
) |
| |
|
inherited |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
- See also
- loadFromConfigFile
◆ saveToConfigFile()
◆ saveToConfigFileName()
void mrpt::utils::CLoadableOptions::saveToConfigFileName |
( |
const std::string & |
config_file, |
|
|
const std::string & |
section |
|
) |
| const |
|
inherited |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
- See also
- saveToConfigFile, loadFromConfigFileName
◆ insertionAngDistance
double mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionAngDistance |
Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map.
Definition at line 52 of file CMetricMapBuilderICP.h.
◆ insertionLinDistance
double mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionLinDistance |
Minimum robot linear (m) displacement for a new observation to be inserted in the map.
Definition at line 51 of file CMetricMapBuilderICP.h.
◆ localizationAngDistance
double mrpt::slam::CMetricMapBuilderICP::TConfigParams::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).
Definition at line 54 of file CMetricMapBuilderICP.h.
◆ localizationLinDistance
double mrpt::slam::CMetricMapBuilderICP::TConfigParams::localizationLinDistance |
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 53 of file CMetricMapBuilderICP.h.
◆ mapInitializers
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 61 of file CMetricMapBuilderICP.h.
◆ matchAgainstTheGrid
bool mrpt::slam::CMetricMapBuilderICP::TConfigParams::matchAgainstTheGrid |
(default:false) Match against the occupancy grid or the points map? The former is quicker but less precise.
Definition at line 49 of file CMetricMapBuilderICP.h.
◆ minICPgoodnessToAccept
double mrpt::slam::CMetricMapBuilderICP::TConfigParams::minICPgoodnessToAccept |
Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40)
Definition at line 56 of file CMetricMapBuilderICP.h.