mrpt::slam::TSetOfMetricMapInitializers Class Reference

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Detailed Description

A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap See the comments for TSetOfMetricMapInitializers::loadFromConfigFile, and "CMultiMetricMap::setListOfMaps" for effectively creating the list of desired maps.

See also:

CMultiMetricMap::CMultiMetricMap, utils::CLoadableOptions

Definition at line 417 of file CMultiMetricMap.h.

#include <mrpt/slam/CMultiMetricMap.h>

Inheritance diagram for mrpt::slam::TSetOfMetricMapInitializers:

List of all members.

Public Types
typedef std::deque < TMetricMapInitializer > ::iterator	iterator
typedef std::deque < TMetricMapInitializer > ::const_iterator	const_iterator
Public Member Functions
size_t	size () const
void	push_back (const TMetricMapInitializer &o)
iterator	begin ()
const_iterator	begin () const
iterator	end ()
const_iterator	end () const
void	clear ()
	TSetOfMetricMapInitializers ()
void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &sectionName)
	Loads the configuration for the set of internal maps from a textual definition in an INI-like file.
void	dumpToTextStream (CStream &out) const
	This method dumps the options of the multi-metric map AND those of every internal map.
Public Attributes
CMultiMetricMap::TOptions	options
	This options will be loaded when creating the set of maps in CMultiMetricMap (See CMultiMetricMap::TOptions)
Protected Attributes
std::deque< TMetricMapInitializer >	m_list

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Member Typedef Documentation

typedef std::deque<TMetricMapInitializer>::const_iterator mrpt::slam::TSetOfMetricMapInitializers::const_iterator

Definition at line 427 of file CMultiMetricMap.h.

typedef std::deque<TMetricMapInitializer>::iterator mrpt::slam::TSetOfMetricMapInitializers::iterator

Definition at line 426 of file CMultiMetricMap.h.

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Constructor & Destructor Documentation

mrpt::slam::TSetOfMetricMapInitializers::TSetOfMetricMapInitializers

(

)

[inline]

Definition at line 438 of file CMultiMetricMap.h.

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Member Function Documentation

iterator mrpt::slam::TSetOfMetricMapInitializers::begin

(

)

[inline]

Definition at line 429 of file CMultiMetricMap.h.

const_iterator mrpt::slam::TSetOfMetricMapInitializers::begin

(

)

const [inline]

Definition at line 430 of file CMultiMetricMap.h.

void mrpt::slam::TSetOfMetricMapInitializers::clear

(

void

)

[inline]

Definition at line 435 of file CMultiMetricMap.h.

void mrpt::slam::TSetOfMetricMapInitializers::dumpToTextStream

(

CStream &

out )

const [virtual]

This method dumps the options of the multi-metric map AND those of every internal map.

Implements mrpt::utils::CLoadableOptions.

iterator mrpt::slam::TSetOfMetricMapInitializers::end

(

)

[inline]

Definition at line 432 of file CMultiMetricMap.h.

const_iterator mrpt::slam::TSetOfMetricMapInitializers::end

(

)

const [inline]

Definition at line 433 of file CMultiMetricMap.h.

void mrpt::slam::TSetOfMetricMapInitializers::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	sectionName
	)		[virtual]

Loads the configuration for the set of internal maps from a textual definition in an INI-like file.

The format of the ini file is defined in utils::CConfigFile. The list of maps and their options will be loaded from a handle of sections:

 [<sectionName>]
  ; Creation of maps:
  occupancyGrid_count=<Number of mrpt::slam::COccupancyGridMap2D maps>
  gasGrid_count=<Number of mrpt::slam::CGasConcentrationGridMap2D maps>
  landmarksMap_count=<0 or 1, for creating a mrpt::slam::CLandmarksMap map>
  beaconMap_count=<0 or 1, for creating a mrpt::slam::CBeaconMap map>
  pointsMap_count=<Number of mrpt::slam::CSimplePointsMap map>
  heightMap_count=<Number of mrpt::slam::CHeightGridMap2D maps>
  colourPointsMap_count=<0 or 1, for creating a mrpt::slam::CColouredPointsMap map>

  ; Selection of map for likelihood: (fuseAll=-1, occGrid=0, points=1,landmarks=2,gasGrid=3,4=landmarks SOG, 5=beacon map, 6=height map)
  likelihoodMapSelection=[-1, 6]

  ; Enables (1) / Disables (0) insertion into specific maps:
  enableInsertion_pointsMap=<0/1>
  enableInsertion_landmarksMap=<0/1>
  enableInsertion_gridMaps=<0/1>
  enableInsertion_gasGridMaps=<0/1>
  enableInsertion_beaconMap=<0/1>
  enableInsertion_heightMap=<0/1>
  enableInsertion_colourPointsMap=<0/1>

 ; Creation Options for OccupancyGridMap ##:
 [<sectionName>+"_occupancyGrid_##_creationOpts"]
  min_x=<value>
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>

 ; Insertion Options for OccupancyGridMap ##:
 [<sectionName>+"_occupancyGrid_##_insertOpts"]
  <See COccupancyGridMap2D::TInsertionOptions>

 ; Likelihood Options for OccupancyGridMap ##:
 [<sectionName>+"_occupancyGrid_##_likelihoodOpts"]
  <See COccupancyGridMap2D::TLikelihoodOptions>



 ; Insertion Options for CSimplePointsMap ##:
 [<sectionName>+"_pointsMap_##_insertOpts"]
  <See CPointsMap::TInsertionOptions>

 ; Likelihood Options for CSimplePointsMap ##:
 [<sectionName>+"_pointsMap_##_likelihoodOpts"]
  <See CPointsMap::TLikelihoodOptions>

 ; Creation Options for CGasConcentrationGridMap2D ##:
 [<sectionName>+"_gasGrid_##_creationOpts"]
  mapType= <0-1> ; See CGasConcentrationGridMap2D::CGasConcentrationGridMap2D
  min_x=<value>
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>

 ; Insertion Options for CGasConcentrationGridMap2D ##:
 [<sectionName>+"_gasGrid_##_insertOpts"]
  <See CGasConcentrationGridMap2D::TInsertionOptions>


 ; Creation Options for CLandmarksMap ##:
 [<sectionName>+"_landmarksMap_##_creationOpts"]
  nBeacons=<# of beacons>
  beacon_001_ID=67              ; The ID and 3D coordinates of each beacon
  beacon_001_X=<x>
  beacon_001_Y=<x>
  beacon_001_Z=<x>

 ; Insertion Options for CLandmarksMap ##:
 [<sectionName>+"_landmarksMap_##_insertOpts"]
  <See CLandmarksMap::TInsertionOptions>

 ; Likelihood Options for CLandmarksMap ##:
 [<sectionName>+"_landmarksMap_##_likelihoodOpts"]
  <See CLandmarksMap::TLikelihoodOptions>


 ; Insertion Options for CBeaconMap ##:
 [<sectionName>+"_beaconMap_##_insertOpts"]
  <See CBeaconMap::TInsertionOptions>

 ; Likelihood Options for CBeaconMap ##:
 [<sectionName>+"_beaconMap_##_likelihoodOpts"]
  <See CBeaconMap::TLikelihoodOptions>

 ; Creation Options for HeightGridMap ##:
 [<sectionName>+"_heightGrid_##_creationOpts"]
  mapType= <0-1> ; See CHeightGridMap2D::CHeightGridMap2D
  min_x=<value>
  max_x=<value>
  min_y=<value>
  max_y=<value>
  resolution=<value>

 ; Insertion Options for HeightGridMap ##:
 [<sectionName>+"_heightGrid_##_insertOpts"]
  <See CHeightGridMap2D::TInsertionOptions>


 ; Insertion Options for CColouredPointsMap ##:
 [<sectionName>+"_colourPointsMap_##_insertOpts"]
  <See CPointsMap::TInsertionOptions>


 ; Color Options for CColouredPointsMap ##:
 [<sectionName>+"_colourPointsMap_##_colorOpts"]
  <See CColouredPointsMap::TColourOptions>

 ; Likelihood Options for CSimplePointsMap ##:
 [<sectionName>+"_colourPointsMap_##_likelihoodOpts"]
  <See CPointsMap::TLikelihoodOptions>

Where:

• ##: Represents the index of the map (e.g. "00","01",...)
• By default, the variables into each "TOptions" structure of the maps are defined in textual form by the same name of the corresponding C++ variable (e.g. "float resolution;" -> "resolution=0.10")

Implements mrpt::utils::CLoadableOptions.

void mrpt::slam::TSetOfMetricMapInitializers::push_back

(

const TMetricMapInitializer &

o )

[inline]

Definition at line 424 of file CMultiMetricMap.h.

size_t mrpt::slam::TSetOfMetricMapInitializers::size

(

)

const [inline]

Definition at line 423 of file CMultiMetricMap.h.

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Member Data Documentation

std::deque<TMetricMapInitializer> mrpt::slam::TSetOfMetricMapInitializers::m_list [protected]

Definition at line 420 of file CMultiMetricMap.h.

CMultiMetricMap::TOptions mrpt::slam::TSetOfMetricMapInitializers::options

This options will be loaded when creating the set of maps in CMultiMetricMap (See CMultiMetricMap::TOptions)

Definition at line 444 of file CMultiMetricMap.h.