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mrpt::reactivenav::CPRRTNavigator::TOptions Class Reference

Detailed Description

Definition at line 116 of file CPRRTNavigator.h.

#include <mrpt/reactivenav/CPRRTNavigator.h>

Inheritance diagram for mrpt::reactivenav::CPRRTNavigator::TOptions:
Inheritance graph
[legend]

Classes

struct  TPathTrackingOpts
 
struct  TPlannerOpts
 

Public Member Functions

 TOptions ()
 Initial values. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (CStream &out) const
 This method displays clearly all the contents of the structure in textual form, sending it to a CStream. More...
 
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...
 
virtual void dumpToTextStream (CStream &out) const
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...
 

Public Attributes

double absolute_max_v
 Max linear speed (m/s) More...
 
double absolute_max_w
 Max angular speed (rad/s) More...
 
double max_accel_v
 Max desired linear speed acceleration (m/s^2) More...
 
double max_accel_w
 Max desired angular speed acceleration (rad/s^2) More...
 
double max_age_observations
 Max age (in seconds) for an observation to be considered invalid for navigation purposes. More...
 
TPolygon2D robot_shape
 The robot shape used when computing collisions; it's loaded from the config file/text as a single 2xN matrix in MATLAB format, first row are Xs, second are Ys, e.g: More...
 
TPathTrackingOpts pathtrack
 
TPlannerOpts planner
 

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)
 

Constructor & Destructor Documentation

mrpt::reactivenav::CPRRTNavigator::TOptions::TOptions ( )

Initial values.

Member Function Documentation

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

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

virtual void mrpt::utils::CLoadableOptions::dumpToTextStream ( CStream &  out) const
virtualinherited

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 in mrpt::slam::TSetOfMetricMapInitializers, mrpt::slam::COccupancyGridMap2D::TLikelihoodOptions, mrpt::vision::TMultiResDescOptions, mrpt::slam::COccupancyGridMap2D::TInsertionOptions, mrpt::vision::TMultiResDescMatchOptions, mrpt::vision::TMatchingOptions, mrpt::slam::CLandmarksMap::TLikelihoodOptions, mrpt::slam::CColouredPointsMap::TColourOptions, mrpt::slam::CPointsMap::TLikelihoodOptions, mrpt::slam::CLandmarksMap::TInsertionOptions, mrpt::vision::TStereoSystemParams, mrpt::slam::CPointsMap::TInsertionOptions, mrpt::slam::CBeaconMap::TInsertionOptions, mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions, mrpt::slam::CRangeBearingKFSLAM::TOptions, mrpt::slam::CBeaconMap::TLikelihoodOptions, mrpt::slam::CMultiMetricMapPDF::TPredictionParams, mrpt::slam::CHeightGridMap2D::TInsertionOptions, mrpt::slam::CRangeBearingKFSLAM2D::TOptions, mrpt::slam::CMultiMetricMap::TOptions, mrpt::slam::CReflectivityGridMap2D::TInsertionOptions, mrpt::bayes::CParticleFilter::TParticleFilterOptions, mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions, mrpt::slam::CGridMapAligner::TConfigParams, mrpt::slam::CMetricMapBuilderRBPF::TConstructionOptions, mrpt::slam::CGasConcentrationGridMap2D::TInsertionOptions, mrpt::slam::CWirelessPowerGridMap2D::TInsertionOptions, mrpt::slam::CICP::TConfigParams, mrpt::slam::CIncrementalMapPartitioner::TOptions, mrpt::slam::CMetricMapBuilderICP::TConfigParams, and mrpt::slam::TKLDParams.

void mrpt::reactivenav::CPRRTNavigator::TOptions::dumpToTextStream ( CStream &  out) const

This method displays clearly all the contents of the structure in textual form, sending it to a CStream.

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
void mrpt::reactivenav::CPRRTNavigator::TOptions::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.

Implements mrpt::utils::CLoadableOptions.

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
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::srba::RbaEngine< KF2KF_POSE_TYPE, LM_TYPE, OBS_TYPE, RBA_OPTIONS >::TSRBAParameters, mrpt::reactivenav::CHolonomicND::TOptions, and mrpt::reactivenav::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

Member Data Documentation

double mrpt::reactivenav::CPRRTNavigator::TOptions::absolute_max_v

Max linear speed (m/s)

Definition at line 131 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::absolute_max_w

Max angular speed (rad/s)

Definition at line 132 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_accel_v

Max desired linear speed acceleration (m/s^2)

Definition at line 133 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_accel_w

Max desired angular speed acceleration (rad/s^2)

Definition at line 134 of file CPRRTNavigator.h.

double mrpt::reactivenav::CPRRTNavigator::TOptions::max_age_observations

Max age (in seconds) for an observation to be considered invalid for navigation purposes.

Definition at line 136 of file CPRRTNavigator.h.

TPathTrackingOpts mrpt::reactivenav::CPRRTNavigator::TOptions::pathtrack

Definition at line 150 of file CPRRTNavigator.h.

TPlannerOpts mrpt::reactivenav::CPRRTNavigator::TOptions::planner

Definition at line 156 of file CPRRTNavigator.h.

TPolygon2D mrpt::reactivenav::CPRRTNavigator::TOptions::robot_shape

The robot shape used when computing collisions; it's loaded from the config file/text as a single 2xN matrix in MATLAB format, first row are Xs, second are Ys, e.g:

robot_shape = [-0.2 0.2 0.2 -0.2; -0.1 -0.1 0.1 0.1]

Definition at line 144 of file CPRRTNavigator.h.



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