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mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions Struct Reference

Detailed Description

Parameters related with inserting observations into the map:

Definition at line 47 of file maps/CWirelessPowerGridMap2D.h.

#include <mrpt/maps/CWirelessPowerGridMap2D.h>

Inheritance diagram for mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions:
Inheritance graph

Public Member Functions

 TInsertionOptions ()
 Default values loader.
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
 This method load the options from a ".ini"-like file or memory-stored string list.
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
 
void loadFromConfigFileName (const std::string &config_file, const std::string &section)
 Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list.
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) 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.
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout)
 
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
 

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.
 
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)
 

Constructor & Destructor Documentation

◆ TInsertionOptions()

mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::TInsertionOptions ( )

Default values loader.

Member Function Documentation

◆ dumpToConsole()

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const
inherited

Just like dumpToTextStream() but sending the text to the console (std::cout)

◆ dumpToTextStream()

void mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::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

◆ internal_dumpToTextStream_common()

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

◆ internal_loadFromConfigFile_common()

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

◆ loadFromConfigFile()

void mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions::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,...
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()

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string &  section 
) const
virtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See also
loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::nav::CHolonomicND::TOptions, mrpt::nav::CHolonomicVFF::TOptions, mrpt::vision::TMultiResDescMatchOptions, and mrpt::vision::TMultiResDescOptions.

◆ 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

Member Data Documentation

◆ cutoffRadius

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

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
inherited

[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
inherited

[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
inherited

[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
inherited

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
inherited

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
inherited

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
inherited

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
inherited

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
inherited

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
inherited

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
inherited

(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
inherited

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

◆ GMRF_simplemap_file

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

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
inherited

(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
inherited

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
inherited

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
inherited

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
inherited

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
inherited

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
inherited

[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
inherited

Limits for normalization of sensor readings.

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

◆ R_min

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

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

◆ sigma

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

The sigma of the "Parzen"-kernel Gaussian.

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




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