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mrpt::slam::CIncrementalMapPartitioner::TOptions Struct Reference


Detailed Description

Configuration of the algorithm:

Definition at line 76 of file CIncrementalMapPartitioner.h.

#include <mrpt/slam/CIncrementalMapPartitioner.h>

Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner::TOptions:
Inheritance graph
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List of all members.

Public Member Functions

 TOptions ()
 Sets default values at object creation.
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
 Load parameters from configuration source.
void dumpToTextStream (CStream &out) const
 This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Public Attributes

float partitionThreshold
 The partition threshold for bisection in range [0,2], default=1.0.
float gridResolution
 For the occupancy grid maps of each node, default=0.10.
float minDistForCorrespondence
 Used in the computation of weights, default=0.20.
float minMahaDistForCorrespondence
 Used in the computation of weights, default=2.0.
bool forceBisectionOnly
 If set to true (default), 1 or 2 clusters will be returned.
bool useMapMatching
 If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.
bool debugSaveAllEigenvectors
 This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES.
int minimumNumberElementsEachCluster
 If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).

Constructor & Destructor Documentation

mrpt::slam::CIncrementalMapPartitioner::TOptions::TOptions ( )

Sets default values at object creation.


Member Function Documentation

void mrpt::slam::CIncrementalMapPartitioner::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.

Implements mrpt::utils::CLoadableOptions.

void mrpt::slam::CIncrementalMapPartitioner::TOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string &  section 
) [virtual]

Load parameters from configuration source.

Implements mrpt::utils::CLoadableOptions.


Member Data Documentation

This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES.

Definition at line 118 of file CIncrementalMapPartitioner.h.

If set to true (default), 1 or 2 clusters will be returned.

Default=false -> Autodetermine the number of partitions.

Definition at line 110 of file CIncrementalMapPartitioner.h.

For the occupancy grid maps of each node, default=0.10.

Definition at line 98 of file CIncrementalMapPartitioner.h.

Used in the computation of weights, default=0.20.

Definition at line 102 of file CIncrementalMapPartitioner.h.

If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1).

Definition at line 121 of file CIncrementalMapPartitioner.h.

Used in the computation of weights, default=2.0.

Definition at line 106 of file CIncrementalMapPartitioner.h.

The partition threshold for bisection in range [0,2], default=1.0.

Definition at line 94 of file CIncrementalMapPartitioner.h.

If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs.

Definition at line 114 of file CIncrementalMapPartitioner.h.




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