Public Types | |
typedef self_t | engine_mr_t |
Public Member Functions | |
void | dumpToTextStream (mrpt::utils::CStream &out) const |
void | loadFromConfigFile (const CConfigFileBase &source, const std::string §ion) |
TOptions (const engine_mr_t &engine_in) | |
~TOptions () | |
Public Member Functions inherited from mrpt::utils::CLoadableOptions | |
void | dumpToConsole () const |
void | loadFromConfigFileName (const std::string &config_file, const std::string §ion) |
virtual void | saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string §ion) const |
void | saveToConfigFileName (const std::string &config_file, const std::string §ion) const |
virtual | ~CLoadableOptions () |
Public Attributes | |
bool | conservative_find_initial_tfs_to_neighbors |
Be conservative when it comes to deciding the initial transformation of own graph with regards to graphs of the neighboring agents. If true engine won't use map merging but instead will be waiting for rendez-vous with other agents to determine the tf. More... | |
const engine_mr_t & | engine |
size_t | inter_group_node_count_thresh |
Lowest number of nodes that should exist in a group of nodes before evaluating it. These nodes are fetched by the other running graphSLAM agents. More... | |
size_t | inter_group_node_count_thresh_minadv |
Minimum advised limit of inter_group_node_count_thresh. More... | |
int | nodes_integration_batch_size |
After an inter-graph transformation is found between own graph and a neighbor's map, newly fetched neighbor's nodes are added in batches. More... | |
int | num_last_regd_nodes |
Max number of last registered NodeIDs + corresponding positions to publish. More... | |
Additional Inherited Members | |
Static Protected Member Functions inherited from mrpt::utils::CLoadableOptions | |
static void | dumpVar_bool (CStream &out, const char *varName, bool v) |
static void | dumpVar_double (CStream &out, const char *varName, double v) |
static void | dumpVar_float (CStream &out, const char *varName, float v) |
static void | dumpVar_int (CStream &out, const char *varName, int v) |
static void | dumpVar_string (CStream &out, const char *varName, const std::string &v) |
Definition at line 519 of file CGraphSlamEngine_MR.h.
typedef self_t mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::engine_mr_t |
Definition at line 521 of file CGraphSlamEngine_MR.h.
mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::TOptions | ( | const engine_mr_t & | engine_in | ) |
Definition at line 1376 of file CGraphSlamEngine_MR_impl.h.
mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::~TOptions | ( | ) |
Definition at line 1384 of file CGraphSlamEngine_MR_impl.h.
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virtual |
Reimplemented from mrpt::utils::CLoadableOptions.
Definition at line 1414 of file CGraphSlamEngine_MR_impl.h.
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virtual |
Implements mrpt::utils::CLoadableOptions.
Definition at line 1388 of file CGraphSlamEngine_MR_impl.h.
bool mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::conservative_find_initial_tfs_to_neighbors |
Be conservative when it comes to deciding the initial transformation of own graph with regards to graphs of the neighboring agents. If true engine won't use map merging but instead will be waiting for rendez-vous with other agents to determine the tf.
Definition at line 542 of file CGraphSlamEngine_MR.h.
const engine_mr_t& mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::engine |
Instance of engine which uses this struct
Definition at line 567 of file CGraphSlamEngine_MR.h.
size_t mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::inter_group_node_count_thresh |
Lowest number of nodes that should exist in a group of nodes before evaluating it. These nodes are fetched by the other running graphSLAM agents.
Definition at line 560 of file CGraphSlamEngine_MR.h.
size_t mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::inter_group_node_count_thresh_minadv |
Minimum advised limit of inter_group_node_count_thresh.
Definition at line 564 of file CGraphSlamEngine_MR.h.
int mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::nodes_integration_batch_size |
After an inter-graph transformation is found between own graph and a neighbor's map, newly fetched neighbor's nodes are added in batches.
Definition at line 546 of file CGraphSlamEngine_MR.h.
int mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::num_last_regd_nodes |
Max number of last registered NodeIDs + corresponding positions to publish.
This is necessary for the other GraphSLAM agents so that they can use this information to localize the current agent in their own map and later make a querry for the Condensed Measurements Graph.
Definition at line 553 of file CGraphSlamEngine_MR.h.