Detailed Description

Some options for this class:

Definition at line 95 of file CMultiMetricMap.h.

#include <mrpt/slam/CMultiMetricMap.h>

Inheritance diagram for mrpt::slam::CMultiMetricMap::TOptions:

Public Types
enum	TMapSelectionForLikelihood { mapFuseAll = -1, mapGrid = 0, mapPoints, mapLandmarks, mapGasGrid, mapWifiGrid, mapBeacon, mapHeight, mapColourPoints, mapReflectivity, mapWeightedPoints, mapOctoMaps, mapColourOctoMaps }
	This selects the map to be used when computing the likelihood of an observation. More...

Public Member Functions
	TOptions ()

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	Load parameters from configuration source. More...

void	dumpToTextStream (CStream &out) const
	This method must display 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...

Public Attributes
enum mrpt::slam::CMultiMetricMap::TOptions::TMapSelectionForLikelihood	likelihoodMapSelection

bool	enableInsertion_pointsMap
	Default = true (set to false to avoid "insertObservation" to update a given map) More...

bool	enableInsertion_landmarksMap
	Default = true (set to false to avoid "insertObservation" to update a given map) More...

bool	enableInsertion_gridMaps
	Default = true (set to false to avoid "insertObservation" to update a given map) More...

bool	enableInsertion_gasGridMaps
	Default = true (set to false to avoid "insertObservation" to update a given map) More...

bool	enableInsertion_wifiGridMaps
	Default = true (set to false to avoid "insertObservation" to update a given map) More...

bool	enableInsertion_beaconMap
	Default = true (set to false to avoid "insertObservation" to update a given map) More...

bool	enableInsertion_heightMaps
	Default = true (set to false to avoid "insertObservation" to update a given map) More...

bool	enableInsertion_reflectivityMaps
	Default = true (set to false to avoid "insertObservation" to update a given map) More...

bool	enableInsertion_colourPointsMaps
	Default = true (set to false to avoid "insertObservation" to update a given map) More...

bool	enableInsertion_weightedPointsMaps
	Default = true (set to false to avoid "insertObservation" to update a given map) More...

bool	enableInsertion_octoMaps
	Default = true (set to false to avoid "insertObservation" to update a given map) More...

bool	enableInsertion_colourOctoMaps
	Default = true (set to false to avoid "insertObservation" to update a given map) 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)

Constructor & Destructor Documentation

mrpt::slam::CMultiMetricMap::TOptions::TOptions ( )

Member Function Documentation

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

inherited

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

void mrpt::slam::CMultiMetricMap::TOptions::dumpToTextStream ( CStream & out ) const

virtual

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

Reimplemented from mrpt::utils::CLoadableOptions.

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::slam::CMultiMetricMap::TOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

virtual

Load parameters from configuration source.

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