Public Types | |
| typedef self_t | engine_mr_t |
Public Member Functions | |
| void | dumpToTextStream (mrpt::utils::CStream &out) const |
| void | loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string §ion) |
| 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. | |
| const engine_mr_t & | engine |
| int | 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. | |
| int | inter_group_node_count_thresh_minadv |
| Minimum advised limit of inter_group_node_count_thresh. | |
| 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. | |
| int | num_last_regd_nodes |
| Max number of last registered NodeIDs + corresponding positions to publish. | |
Definition at line 515 of file CGraphSlamEngine_MR.h.
| typedef self_t mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::engine_mr_t |
Definition at line 517 of file CGraphSlamEngine_MR.h.
| mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::TOptions | ( | const engine_mr_t & | engine_in | ) |
Definition at line 1435 of file CGraphSlamEngine_MR_impl.h.
| mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::~TOptions | ( | ) |
Definition at line 1446 of file CGraphSlamEngine_MR_impl.h.
| void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::dumpToTextStream | ( | mrpt::utils::CStream & | out | ) | const |
Definition at line 1478 of file CGraphSlamEngine_MR_impl.h.
| void mrpt::graphslam::CGraphSlamEngine_MR< GRAPH_T >::TOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
| const std::string & | section | ||
| ) |
Definition at line 1450 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 534 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 559 of file CGraphSlamEngine_MR.h.
| int 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 552 of file CGraphSlamEngine_MR.h.
| int 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 556 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 538 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 545 of file CGraphSlamEngine_MR.h.