Detailed Description

template<class OCTREE, class OCTREE_NODE>
struct mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions

With this struct options are provided to the observation insertion process.

See also: CObservation::insertObservationInto()

Definition at line 69 of file maps/COctoMapBase.h.

#include <mrpt/maps/COctoMapBase.h>

Inheritance diagram for mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions:

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 &section)
	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 &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. More...

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. More...

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. 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

Constructor & Destructor Documentation

template<class OCTREE , class OCTREE_NODE >

mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::TInsertionOptions ( myself_t & parent )

Initilization of default parameters.

Definition at line 239 of file COctoMapBase_impl.h.

template<class OCTREE , class OCTREE_NODE >

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.

Member Function Documentation

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

inherited

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

template<class OCTREE , class OCTREE_NODE >

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::dumpToTextStream ( mrpt::utils::CStream & out ) const

virtual

See utils::CLoadableOptions.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 301 of file COctoMapBase_impl.h.

References LOADABLEOPTS_DUMP_VAR, and mrpt::utils::CStream::printf().

static void mrpt::utils::CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

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.

static void mrpt::utils::CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMax ( ) const

inline

Returns: maximum threshold for occupancy clamping in the sensor model (probability)

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=().

template<class OCTREE, class OCTREE_NODE>

float mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMaxLog ( ) const

inline

Returns: maximum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 129 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMin ( ) const

inline

Returns: minimum threshold for occupancy clamping in the sensor model (probability)

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=().

template<class OCTREE, class OCTREE_NODE>

float mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getClampingThresMinLog ( ) const

inline

Returns: minimum threshold for occupancy clamping in the sensor model (logodds)

Definition at line 125 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThres ( ) const

inline

Returns: threshold (probability) for occupancy - sensor model

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=().

template<class OCTREE, class OCTREE_NODE>

float mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getOccupancyThresLog ( ) const

inline

Returns: threshold (logodds) for occupancy - sensor model

Definition at line 111 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHit ( ) const

inline

Returns: probablility for a "hit" in the sensor model (probability)

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=().

template<class OCTREE, class OCTREE_NODE>

float mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbHitLog ( ) const

inline

Returns: probablility for a "hit" in the sensor model (logodds)

Definition at line 116 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMiss ( ) const

inline

Returns: probablility for a "miss" in the sensor model (probability)

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=().

template<class OCTREE, class OCTREE_NODE>

float mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::getProbMissLog ( ) const

inline

Returns: probablility for a "miss" in the sensor model (logodds)

Definition at line 120 of file maps/COctoMapBase.h.

References mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent.

template<class OCTREE , class OCTREE_NODE >

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

virtual

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

Definition at line 329 of file COctoMapBase_impl.h.

References MRPT_LOAD_CONFIG_VAR.

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

template<class OCTREE, class OCTREE_NODE>

TInsertionOptions& mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::operator= ( const TInsertionOptions & o )

inline

Definition at line 75 of file maps/COctoMapBase.h.

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

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

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMax ( double thresProb )

inline

(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=().

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setClampingThresMin ( double thresProb )

inline

(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=().

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setOccupancyThres ( double prob )

inline

(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=().

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbHit ( double prob )

inline

(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=().

template<class OCTREE, class OCTREE_NODE>

void mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::setProbMiss ( double prob )

inline

(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=().

Member Data Documentation

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMax

private

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=().

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::clampingThresMin

private

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=().

template<class OCTREE, class OCTREE_NODE>

mrpt::utils::ignored_copy_ptr<myself_t> mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::m_parent

private

Definition at line 132 of file maps/COctoMapBase.h.

template<class OCTREE, class OCTREE_NODE>

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=().

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::occupancyThres

private

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=().

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probHit

private

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=().

template<class OCTREE, class OCTREE_NODE>

double mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions::probMiss

private

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=().

template<class OCTREE, class OCTREE_NODE>

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=().

Detailed Description

template<class OCTREE, class OCTREE_NODE> struct mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions

Public Member Functions

Public Attributes

Static Protected Member Functions

Private Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<class OCTREE, class OCTREE_NODE>
struct mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions