With this struct options are provided to the observation insertion process.
- See also
- CObservation::insertIntoGridMap
Definition at line 343 of file maps/COccupancyGridMap2D.h.
#include <mrpt/maps/COccupancyGridMap2D.h>
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float | mapAltitude |
| The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map! More...
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bool | useMapAltitude |
| The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true. More...
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float | maxDistanceInsertion |
| The largest distance at which cells will be updated (Default 15 meters) More...
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float | maxOccupancyUpdateCertainty |
| A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8) More...
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bool | considerInvalidRangesAsFreeSpace |
| If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray. More...
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uint16_t | decimation |
| Specify the decimation of the range scan (default=1 : take all the range values!) More...
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float | horizontalTolerance |
| The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0). More...
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float | CFD_features_gaussian_size |
| Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled) More...
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float | CFD_features_median_size |
| Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled) More...
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bool | wideningBeamsWithDistance |
| Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false) More...
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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...
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static void | dumpVar_float (CStream &out, const char *varName, float v) |
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static void | dumpVar_double (CStream &out, const char *varName, double v) |
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static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
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static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
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◆ TInsertionOptions()
mrpt::maps::COccupancyGridMap2D::TInsertionOptions::TInsertionOptions |
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Initilization of default parameters.
◆ dumpToConsole()
void mrpt::utils::CLoadableOptions::dumpToConsole |
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const |
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inherited |
◆ dumpToTextStream()
void mrpt::maps::COccupancyGridMap2D::TInsertionOptions::dumpToTextStream |
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mrpt::utils::CStream & |
out | ) |
const |
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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 |
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CStream & |
out, |
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const char * |
varName, |
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bool |
v |
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staticprotectedinherited |
◆ dumpVar_double()
static void mrpt::utils::CLoadableOptions::dumpVar_double |
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CStream & |
out, |
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const char * |
varName, |
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double |
v |
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staticprotectedinherited |
◆ dumpVar_float()
static void mrpt::utils::CLoadableOptions::dumpVar_float |
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CStream & |
out, |
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const char * |
varName, |
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float |
v |
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staticprotectedinherited |
◆ dumpVar_int()
static void mrpt::utils::CLoadableOptions::dumpVar_int |
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CStream & |
out, |
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const char * |
varName, |
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int |
v |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
◆ dumpVar_string()
static void mrpt::utils::CLoadableOptions::dumpVar_string |
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CStream & |
out, |
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const char * |
varName, |
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const std::string & |
v |
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staticprotectedinherited |
◆ loadFromConfigFile()
void mrpt::maps::COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile |
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const mrpt::utils::CConfigFileBase & |
source, |
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const std::string & |
section |
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virtual |
This method load the options from a ".ini" file.
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]
modeSelection=1 ; 0=blah, 1=blah,...
Implements mrpt::utils::CLoadableOptions.
◆ loadFromConfigFileName()
void mrpt::utils::CLoadableOptions::loadFromConfigFileName |
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const std::string & |
config_file, |
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const std::string & |
section |
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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 |
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const std::string & |
config_file, |
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const std::string & |
section |
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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
◆ CFD_features_gaussian_size
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_gaussian_size |
Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled)
Definition at line 371 of file maps/COccupancyGridMap2D.h.
◆ CFD_features_median_size
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::CFD_features_median_size |
Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled)
Definition at line 372 of file maps/COccupancyGridMap2D.h.
◆ considerInvalidRangesAsFreeSpace
bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::considerInvalidRangesAsFreeSpace |
If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray.
Definition at line 368 of file maps/COccupancyGridMap2D.h.
◆ decimation
uint16_t mrpt::maps::COccupancyGridMap2D::TInsertionOptions::decimation |
◆ horizontalTolerance
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::horizontalTolerance |
The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0).
Definition at line 370 of file maps/COccupancyGridMap2D.h.
◆ mapAltitude
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::mapAltitude |
The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map!
Definition at line 364 of file maps/COccupancyGridMap2D.h.
◆ maxDistanceInsertion
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxDistanceInsertion |
◆ maxOccupancyUpdateCertainty
float mrpt::maps::COccupancyGridMap2D::TInsertionOptions::maxOccupancyUpdateCertainty |
A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8)
Definition at line 367 of file maps/COccupancyGridMap2D.h.
◆ useMapAltitude
bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::useMapAltitude |
The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true.
Definition at line 365 of file maps/COccupancyGridMap2D.h.
◆ wideningBeamsWithDistance
bool mrpt::maps::COccupancyGridMap2D::TInsertionOptions::wideningBeamsWithDistance |
Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=false)
Definition at line 373 of file maps/COccupancyGridMap2D.h.