mrpt::slam::CMultiMetricMap::TOptions Struct Reference

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Detailed Description

Some options for this class:

Definition at line 103 of file CMultiMetricMap.h.

#include <mrpt/slam/CMultiMetricMap.h>

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

List of all members.

Public Types
enum	TMapSelectionForLikelihood {   mapFuseAll = -1, mapGrid = 0, mapPoints, mapLandmarks,   mapGasGrid, mapBeacon, mapHeight, mapColourPoints }
	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.
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
enum mrpt::slam::CMultiMetricMap::TOptions::TMapSelectionForLikelihood	likelihoodMapSelection
bool	enableInsertion_pointsMap
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_landmarksMap
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_gridMaps
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_gasGridMaps
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_beaconMap
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_heightMaps
	Default = true (set to false to avoid "insertObservation" to update a given map)
bool	enableInsertion_colourPointsMaps
	Default = true (set to false to avoid "insertObservation" to update a given map)

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Member Enumeration Documentation

enum mrpt::slam::CMultiMetricMap::TOptions::TMapSelectionForLikelihood

This selects the map to be used when computing the likelihood of an observation.

See also:

computeObservationLikelihood

Enumerator:

mapFuseAll
mapGrid
mapPoints
mapLandmarks
mapGasGrid
mapBeacon
mapHeight
mapColourPoints

Definition at line 129 of file CMultiMetricMap.h.

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Constructor & Destructor Documentation

mrpt::slam::CMultiMetricMap::TOptions::TOptions

(

)

[inline]

Definition at line 105 of file CMultiMetricMap.h.

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Member Function Documentation

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.

Implements mrpt::utils::CLoadableOptions.

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.

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Member Data Documentation

bool mrpt::slam::CMultiMetricMap::TOptions::enableInsertion_beaconMap

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

Definition at line 159 of file CMultiMetricMap.h.

bool mrpt::slam::CMultiMetricMap::TOptions::enableInsertion_colourPointsMaps

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

Definition at line 167 of file CMultiMetricMap.h.

bool mrpt::slam::CMultiMetricMap::TOptions::enableInsertion_gasGridMaps

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

Definition at line 155 of file CMultiMetricMap.h.

bool mrpt::slam::CMultiMetricMap::TOptions::enableInsertion_gridMaps

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

Definition at line 151 of file CMultiMetricMap.h.

bool mrpt::slam::CMultiMetricMap::TOptions::enableInsertion_heightMaps

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

Definition at line 163 of file CMultiMetricMap.h.

bool mrpt::slam::CMultiMetricMap::TOptions::enableInsertion_landmarksMap

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

Definition at line 147 of file CMultiMetricMap.h.

bool mrpt::slam::CMultiMetricMap::TOptions::enableInsertion_pointsMap

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

Definition at line 143 of file CMultiMetricMap.h.

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