mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions Struct Reference

Inheritance diagram for mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions:

Public Types
typedef self_t	engine_mr_t

Public Member Functions
void	dumpToTextStream (std::ostream &out) const
void	loadFromConfigFile (const CConfigFileBase &source, const std::string &section)
	TOptions (const engine_mr_t &engine_in)
	~TOptions ()

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...

Detailed Description

template<class GRAPH_T>
struct mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions

Definition at line 508 of file CGraphSlamEngine_MR.h.

Member Typedef Documentation

engine_mr_t

template<class GRAPH_T >

typedef self_t mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::engine_mr_t

Definition at line 510 of file CGraphSlamEngine_MR.h.

Constructor & Destructor Documentation

TOptions()

template<class GRAPH_T >

mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::TOptions

(

const engine_mr_t &

engine_in

)

Definition at line 1493 of file CGraphSlamEngine_MR_impl.h.

~TOptions()

template<class GRAPH_T >

mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::~TOptions

Definition at line 1504 of file CGraphSlamEngine_MR_impl.h.

Member Function Documentation

dumpToTextStream()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::dumpToTextStream

(

std::ostream &

out

)

const

Definition at line 1538 of file CGraphSlamEngine_MR_impl.h.

loadFromConfigFile()

template<class GRAPH_T >

void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::loadFromConfigFile	(	const CConfigFileBase &	source,
		const std::string &	section
	)

Definition at line 1509 of file CGraphSlamEngine_MR_impl.h.

Member Data Documentation

conservative_find_initial_tfs_to_neighbors

template<class GRAPH_T >

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.

Warning

Rendez-vous behavior is not yet implemented.

Definition at line 525 of file CGraphSlamEngine_MR.h.

engine

template<class GRAPH_T >

const engine_mr_t& mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::engine

Instance of engine which uses this struct

Definition at line 553 of file CGraphSlamEngine_MR.h.

inter_group_node_count_thresh

template<class GRAPH_T >

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.

Note

This should be set >= 3

See also

inter_group_node_count_thresh_minadv

Definition at line 546 of file CGraphSlamEngine_MR.h.

inter_group_node_count_thresh_minadv

template<class GRAPH_T >

size_t mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::inter_group_node_count_thresh_minadv

Minimum advised limit of inter_group_node_count_thresh.

See also

inter_group_node_count_thresh

Definition at line 550 of file CGraphSlamEngine_MR.h.

nodes_integration_batch_size

template<class GRAPH_T >

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 530 of file CGraphSlamEngine_MR.h.

num_last_regd_nodes

template<class GRAPH_T >

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 538 of file CGraphSlamEngine_MR.h.

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The documentation for this struct was generated from the following files:

• CGraphSlamEngine_MR.h
• CGraphSlamEngine_MR_impl.h