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mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions Class Reference

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

#include <mrpt/slam/COccupancyGridMap2D.h>

Inheritance diagram for mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions:

mrpt::utils::CLoadableOptions

List of all members.

Public Member Functions

 TInsertionOptions ()
 Initilization of default parameters.
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 This method load the options from a ".ini" file.
void dumpToTextStream (CStream &out)
 This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Public Attributes

float mapAltitude
 The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map!
bool useMapAltitude
 The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true.
float maxDistanceInsertion
 The largest distance at which cells will be updated (Default 15 meters).
float maxOccupancyUpdateCertainty
 A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8).
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.
uint16_t decimation
 Specify the decimation of the range scan (default=1 : take all the range values!).
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).
float CFD_features_gaussian_size
 Gaussian sigma of the filter used in getAsImageFiltered (for "panoramic feature" detection) (Default=1) (0:Disabled).
float CFD_features_median_size
 Size of the Median filter used in getAsImageFiltered (for "panoramic feature" detection) (Default=3) (0:Disabled).
bool wideningBeamsWithDistance
 Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=true).


Detailed Description

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

See also:
CObservation::insertIntoGridMap

Definition at line 618 of file COccupancyGridMap2D.h.


Constructor & Destructor Documentation

mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions::TInsertionOptions (  ) 

Initilization of default parameters.


Member Function Documentation

void mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions::dumpToTextStream ( CStream out  )  [virtual]

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

Implements mrpt::utils::CLoadableOptions.

void mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [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]
        resolution=0.10         ; blah blah...
        modeSelection=1         ; 0=blah, 1=blah,...

Implements mrpt::utils::CLoadableOptions.


Member Data Documentation

float mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions::CFD_features_gaussian_size

Gaussian sigma of the filter used in getAsImageFiltered (for "panoramic feature" detection) (Default=1) (0:Disabled).

Definition at line 673 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions::CFD_features_median_size

Size of the Median filter used in getAsImageFiltered (for "panoramic feature" detection) (Default=3) (0:Disabled).

Definition at line 676 of file COccupancyGridMap2D.h.

bool mrpt::slam::COccupancyGridMap2D::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 663 of file COccupancyGridMap2D.h.

uint16_t mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions::decimation

Specify the decimation of the range scan (default=1 : take all the range values!).

Definition at line 667 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::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 670 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::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 647 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions::maxDistanceInsertion

The largest distance at which cells will be updated (Default 15 meters).

Definition at line 655 of file COccupancyGridMap2D.h.

float mrpt::slam::COccupancyGridMap2D::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 659 of file COccupancyGridMap2D.h.

bool mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions::useMapAltitude

The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true.

Definition at line 651 of file COccupancyGridMap2D.h.

bool mrpt::slam::COccupancyGridMap2D::COccupancyGridMap2D::TInsertionOptions::wideningBeamsWithDistance

Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=true).

Definition at line 678 of file COccupancyGridMap2D.h.




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