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mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon Struct Reference

Detailed Description

Parameters common to any derived class.

Derived classes should derive a new struct from this one, plus "public utils::CLoadableOptions", and call the internal_* methods where appropiate to deal with the variables declared here. Derived classes instantions of their "TInsertionOptions" MUST set the pointer "m_insertOptions_common" upon construction.

Definition at line 183 of file maps/CRandomFieldGridMap2D.h.

#include <mrpt/maps/CRandomFieldGridMap2D.h>

Inheritance diagram for mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon:
Inheritance graph

Public Member Functions

 TInsertionOptionsCommon ()
 Default values loader.
 
void internal_loadFromConfigFile_common (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 See utils::CLoadableOptions.
 
void internal_dumpToTextStream_common (mrpt::utils::CStream &out) const
 See utils::CLoadableOptions.
 

Public Attributes

Kernel methods (mrKernelDM, mrKernelDMV)
float sigma
 The sigma of the "Parzen"-kernel Gaussian.
 
float cutoffRadius
 The cutoff radius for updating cells.
 
float R_min
 
float R_max
 Limits for normalization of sensor readings.
 
double dm_sigma_omega
 [DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) *‍/
 
Kalman-filter methods (mrKalmanFilter, mrKalmanApproximate)
float KF_covSigma
 The "sigma" for the initial covariance value between cells (in meters).
 
float KF_initialCellStd
 The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).
 
float KF_observationModelNoise
 The sensor model noise (in normalized concentration units).
 
float KF_defaultCellMeanValue
 The default value for the mean of cells' concentration.
 
uint16_t KF_W_size
 [mrKalmanApproximate] The size of the window of neighbor cells.
 
Gaussian Markov Random Fields methods (mrGMRF_G & mrGMRF_SD)
double GMRF_lambdaPrior
 The information (Lambda) of fixed map constraints.
 
double GMRF_lambdaObs
 The initial information (Lambda) of each observation (this information will decrease with time)
 
double GMRF_lambdaObsLoss
 The loss of information of the observations with each iteration.
 
bool GMRF_use_occupancy_information
 whether to use information of an occupancy_gridmap map for buidling the GMRF
 
std::string GMRF_simplemap_file
 simplemap_file name of the occupancy_gridmap
 
std::string GMRF_gridmap_image_file
 image name of the occupancy_gridmap
 
double GMRF_gridmap_image_res
 occupancy_gridmap resolution: size of each pixel (m)
 
size_t GMRF_gridmap_image_cx
 Pixel coordinates of the origin for the occupancy_gridmap.
 
size_t GMRF_gridmap_image_cy
 Pixel coordinates of the origin for the occupancy_gridmap.
 
uint16_t GMRF_constraintsSize
 [mrGMRF_G only] The size of the Gaussian window to impose fixed restrictions between cells.
 
double GMRF_constraintsSigma
 [mrGMRF_G only] The sigma of the Gaussian window to impose fixed restrictions between cells.
 
double GMRF_saturate_min
 
double GMRF_saturate_max
 (Default:-inf,+inf) Saturate the estimated mean in these limits
 
bool GMRF_skip_variance
 (Default:false) Skip the computation of the variance, just compute the mean
 

Constructor & Destructor Documentation

◆ TInsertionOptionsCommon()

mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::TInsertionOptionsCommon ( )

Default values loader.

Member Function Documentation

◆ internal_dumpToTextStream_common()

void mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_dumpToTextStream_common ( mrpt::utils::CStream out) const

◆ internal_loadFromConfigFile_common()

void mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::internal_loadFromConfigFile_common ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
)

Member Data Documentation

◆ cutoffRadius

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::cutoffRadius

The cutoff radius for updating cells.

Definition at line 197 of file maps/CRandomFieldGridMap2D.h.

◆ dm_sigma_omega

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::dm_sigma_omega

[DM/DM+V methods] The scaling parameter for the confidence "alpha" values (see the IROS 2009 paper; see CRandomFieldGridMap2D) *‍/

Definition at line 199 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_constraintsSigma

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_constraintsSigma

[mrGMRF_G only] The sigma of the Gaussian window to impose fixed restrictions between cells.

Definition at line 225 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_constraintsSize

uint16_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_constraintsSize

[mrGMRF_G only] The size of the Gaussian window to impose fixed restrictions between cells.

Definition at line 224 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_cx

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cx

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 221 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_cy

size_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_cy

Pixel coordinates of the origin for the occupancy_gridmap.

Definition at line 222 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_file

image name of the occupancy_gridmap

Definition at line 219 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_gridmap_image_res

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_gridmap_image_res

occupancy_gridmap resolution: size of each pixel (m)

Definition at line 220 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObs

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObs

The initial information (Lambda) of each observation (this information will decrease with time)

Definition at line 214 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_lambdaObsLoss

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaObsLoss

The loss of information of the observations with each iteration.

Definition at line 215 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_lambdaPrior

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_lambdaPrior

The information (Lambda) of fixed map constraints.

Definition at line 213 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_saturate_max

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_max

(Default:-inf,+inf) Saturate the estimated mean in these limits

Definition at line 226 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_saturate_min

double mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_saturate_min

Definition at line 226 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_simplemap_file

std::string mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_simplemap_file

simplemap_file name of the occupancy_gridmap

Definition at line 218 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_skip_variance

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_skip_variance

(Default:false) Skip the computation of the variance, just compute the mean

Definition at line 227 of file maps/CRandomFieldGridMap2D.h.

◆ GMRF_use_occupancy_information

bool mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::GMRF_use_occupancy_information

whether to use information of an occupancy_gridmap map for buidling the GMRF

Definition at line 217 of file maps/CRandomFieldGridMap2D.h.

◆ KF_covSigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_covSigma

The "sigma" for the initial covariance value between cells (in meters).

Definition at line 204 of file maps/CRandomFieldGridMap2D.h.

◆ KF_defaultCellMeanValue

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_defaultCellMeanValue

The default value for the mean of cells' concentration.

Definition at line 207 of file maps/CRandomFieldGridMap2D.h.

◆ KF_initialCellStd

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_initialCellStd

The initial standard deviation of each cell's concentration (will be stored both at each cell's structure and in the covariance matrix as variances in the diagonal) (in normalized concentration units).

Definition at line 205 of file maps/CRandomFieldGridMap2D.h.

◆ KF_observationModelNoise

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_observationModelNoise

The sensor model noise (in normalized concentration units).

Definition at line 206 of file maps/CRandomFieldGridMap2D.h.

◆ KF_W_size

uint16_t mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::KF_W_size

[mrKalmanApproximate] The size of the window of neighbor cells.

Definition at line 208 of file maps/CRandomFieldGridMap2D.h.

◆ R_max

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_max

Limits for normalization of sensor readings.

Definition at line 198 of file maps/CRandomFieldGridMap2D.h.

◆ R_min

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::R_min

Definition at line 198 of file maps/CRandomFieldGridMap2D.h.

◆ sigma

float mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon::sigma

The sigma of the "Parzen"-kernel Gaussian.

Definition at line 196 of file maps/CRandomFieldGridMap2D.h.




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