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.
Definition at line 417 of file CMultiMetricMap.h.
#include <mrpt/slam/CMultiMetricMap.h>
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 §ionName) |
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 |
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.
mrpt::slam::TSetOfMetricMapInitializers::TSetOfMetricMapInitializers | ( | ) | [inline] |
Definition at line 438 of file CMultiMetricMap.h.
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:
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.
std::deque<TMetricMapInitializer> mrpt::slam::TSetOfMetricMapInitializers::m_list [protected] |
Definition at line 420 of file CMultiMetricMap.h.
This options will be loaded when creating the set of maps in CMultiMetricMap (See CMultiMetricMap::TOptions).
Definition at line 444 of file CMultiMetricMap.h.
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