With this struct options are provided to the observation insertion process.
Definition at line 69 of file maps/COctoMapBase.h.
#include <mrpt/maps/COctoMapBase.h>
Public Member Functions | |
TInsertionOptions (myself_t &parent) | |
Initilization of default parameters. More... | |
TInsertionOptions () | |
Especial constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc. More... | |
TInsertionOptions & | operator= (const TInsertionOptions &o) |
void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
See utils::CLoadableOptions. More... | |
void | dumpToTextStream (mrpt::utils::CStream &out) const |
See utils::CLoadableOptions. More... | |
void | setOccupancyThres (double prob) |
(key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5) More... | |
void | setProbHit (double prob) |
(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7) More... | |
void | setProbMiss (double prob) |
(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4) More... | |
void | setClampingThresMin (double thresProb) |
(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds) More... | |
void | setClampingThresMax (double thresProb) |
(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds) More... | |
double | getOccupancyThres () const |
float | getOccupancyThresLog () const |
double | getProbHit () const |
float | getProbHitLog () const |
double | getProbMiss () const |
float | getProbMissLog () const |
double | getClampingThresMin () const |
float | getClampingThresMinLog () const |
double | getClampingThresMax () const |
float | getClampingThresMaxLog () const |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file. More... | |
virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string §ion) const |
This method saves the options to a ".ini"-like file or memory-stored string list. More... | |
void | saveToConfigFileName (const std::string &config_file, const std::string §ion) const |
Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More... | |
void | dumpToConsole () const |
Just like dumpToTextStream() but sending the text to the console (std::cout) More... | |
Public Attributes | |
double | maxrange |
maximum range for how long individual beams are inserted (default -1: complete beam) More... | |
bool | pruning |
whether the tree is (losslessly) pruned after insertion (default: true) More... | |
Static Protected Member Functions | |
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) |
Private Attributes | |
mrpt::utils::ignored_copy_ptr< myself_t > | m_parent |
double | occupancyThres |
double | probHit |
double | probMiss |
double | clampingThresMin |
double | clampingThresMax |
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions | ( | myself_t & | parent | ) |
Initilization of default parameters.
Definition at line 239 of file COctoMapBase_impl.h.
mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions | ( | ) |
Especial constructor, not attached to a real COctoMap object: used only in limited situations, since get*() methods don't work, etc.
Definition at line 253 of file COctoMapBase_impl.h.
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Just like dumpToTextStream() but sending the text to the console (std::cout)
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Reimplemented from mrpt::utils::CLoadableOptions.
Definition at line 301 of file COctoMapBase_impl.h.
References LOADABLEOPTS_DUMP_VAR, and mrpt::utils::CStream::printf().
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Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
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Definition at line 127 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMax, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 129 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
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Definition at line 123 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMin, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 125 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
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Definition at line 109 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::occupancyThres.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 111 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
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Definition at line 114 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probHit.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 116 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
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Definition at line 118 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probMiss.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 120 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
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Implements mrpt::utils::CLoadableOptions.
Definition at line 329 of file COctoMapBase_impl.h.
References MRPT_LOAD_CONFIG_VAR.
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Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
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Definition at line 75 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMax, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMin, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::maxrange, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::occupancyThres, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probHit, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probMiss, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::pruning, mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbMiss().
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virtualinherited |
This method saves the options to a ".ini"-like file or memory-stored string list.
Reimplemented in mrpt::vision::TMultiResDescOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::nav::CHolonomicND::TOptions, and mrpt::nav::CHolonomicVFF::TOptions.
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Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.
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(key name in .ini files: "clampingThresMax")sets the maximum threshold for occupancy clamping (sensor model) (Default=0.971, 3.5 in log odds)
Definition at line 106 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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(key name in .ini files: "clampingThresMin")sets the minimum threshold for occupancy clamping (sensor model) (Default=0.1192, -2 in log odds)
Definition at line 104 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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(key name in .ini files: "occupancyThres") sets the threshold for occupancy (sensor model) (Default=0.5)
Definition at line 98 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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(key name in .ini files: "probHit")sets the probablility for a "hit" (will be converted to logodds) - sensor model (Default=0.7)
Definition at line 100 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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(key name in .ini files: "probMiss")sets the probablility for a "miss" (will be converted to logodds) - sensor model (Default=0.4)
Definition at line 102 of file maps/COctoMapBase.h.
References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 138 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMax(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 137 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMin(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 132 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMaxLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMinLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThresLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHit(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHitLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMiss(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMissLog(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMax(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMin(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setOccupancyThres(), mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbHit(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbMiss().
double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::maxrange |
maximum range for how long individual beams are inserted (default -1: complete beam)
Definition at line 94 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 134 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThres(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 135 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHit(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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Definition at line 136 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMiss(), and mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
bool mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::pruning |
whether the tree is (losslessly) pruned after insertion (default: true)
Definition at line 95 of file maps/COctoMapBase.h.
Referenced by mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator=().
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