Configuration of the algorithm:
Definition at line 53 of file CIncrementalMapPartitioner.h.
#include <mrpt/slam/CIncrementalMapPartitioner.h>
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static void | dumpVar_int (CStream &out, const char *varName, int v) |
| Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. More...
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static void | dumpVar_float (CStream &out, const char *varName, float v) |
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static void | dumpVar_double (CStream &out, const char *varName, double v) |
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static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
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static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
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mrpt::slam::CIncrementalMapPartitioner::TOptions::TOptions |
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Sets default values at object creation.
void mrpt::utils::CLoadableOptions::dumpToConsole |
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void mrpt::slam::CIncrementalMapPartitioner::TOptions::dumpToTextStream |
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mrpt::utils::CStream & |
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This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.
Reimplemented from mrpt::utils::CLoadableOptions.
static void mrpt::utils::CLoadableOptions::dumpVar_bool |
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CStream & |
out, |
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const char * |
varName, |
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bool |
v |
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static void mrpt::utils::CLoadableOptions::dumpVar_double |
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CStream & |
out, |
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const char * |
varName, |
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double |
v |
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staticprotectedinherited |
static void mrpt::utils::CLoadableOptions::dumpVar_float |
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CStream & |
out, |
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const char * |
varName, |
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float |
v |
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staticprotectedinherited |
static void mrpt::utils::CLoadableOptions::dumpVar_int |
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CStream & |
out, |
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const char * |
varName, |
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int |
v |
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staticprotectedinherited |
Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.
static void mrpt::utils::CLoadableOptions::dumpVar_string |
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CStream & |
out, |
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const char * |
varName, |
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const std::string & |
v |
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staticprotectedinherited |
void mrpt::slam::CIncrementalMapPartitioner::TOptions::loadFromConfigFile |
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const mrpt::utils::CConfigFileBase & |
source, |
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const std::string & |
section |
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This method load the options from a ".ini"-like file or memory-stored string list.
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
modeSelection = 1
- See also
- loadFromConfigFileName, saveToConfigFile
Implements mrpt::utils::CLoadableOptions.
void mrpt::utils::CLoadableOptions::loadFromConfigFileName |
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const std::string & |
config_file, |
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const std::string & |
section |
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inherited |
Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.
- See also
- loadFromConfigFile
void mrpt::utils::CLoadableOptions::saveToConfigFileName |
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const std::string & |
config_file, |
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const std::string & |
section |
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inherited |
bool mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly |
If set to true (default), 1 or 2 clusters will be returned.
Default=false -> Autodetermine the number of partitions.
Definition at line 80 of file CIncrementalMapPartitioner.h.
float mrpt::slam::CIncrementalMapPartitioner::TOptions::gridResolution |
float mrpt::slam::CIncrementalMapPartitioner::TOptions::minDistForCorrespondence |
int mrpt::slam::CIncrementalMapPartitioner::TOptions::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).
Definition at line 87 of file CIncrementalMapPartitioner.h.
float mrpt::slam::CIncrementalMapPartitioner::TOptions::minMahaDistForCorrespondence |
float mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold |
bool mrpt::slam::CIncrementalMapPartitioner::TOptions::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.
Definition at line 84 of file CIncrementalMapPartitioner.h.