Struct TMetricMapInitializer

Inheritance Relationships

Base Type

  • public mrpt::config::CLoadableOptions

Struct Documentation

struct TMetricMapInitializer : public mrpt::config::CLoadableOptions

Virtual base for specifying the kind and parameters of one map (normally, to be inserted into mrpt::maps::CMultiMetricMap) See mrpt::maps::TSetOfMetricMapInitializers::loadFromConfigFile() as an easy way of initialize this object, or construct with the factory methods MetricMapClass::MapDefinition() and TMetricMapInitializer::factory()

See also

TSetOfMetricMapInitializers, mrpt::maps::CMultiMetricMap

Public Types

using Ptr = std::shared_ptr<TMetricMapInitializer>

Smart pointer to TMetricMapInitializer

Public Functions

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &sectionNamePrefix) override

Load all params from a config file/source. For examples and format, read the docs of mrpt::maps::CMultiMetricMap Typical section names:

  • <sectionNamePrefix>_creationOpts

  • <sectionNamePrefix>_insertOpts

  • <sectionNamePrefix>_likelihoodOpts

virtual void saveToConfigFile(mrpt::config::CConfigFileBase &target, const std::string &section) const override
virtual void dumpToTextStream(std::ostream &out) const override
inline const mrpt::rtti::TRuntimeClassId::Ptr &getMetricMapClassType() const

Query the map type (C++ class), as set by the factory method MapDefinition()

Public Members

mrpt::maps::TMapGenericParams genericMapParams

Common params for all maps: These are automatically set in TMetricMapTypesRegistry::factoryMapObjectFromDefinition()

Public Static Functions

static Ptr factory(const std::string &mapClassName)

Looks up in the registry of known map types and call the corresponding <metric_map_class>::MapDefinition().

Protected Functions

TMetricMapInitializer(const mrpt::rtti::TRuntimeClassId *classID)
virtual void loadFromConfigFile_map_specific(const mrpt::config::CConfigFileBase &source, const std::string &sectionNamePrefix) = 0

Load all map-specific params

virtual void dumpToTextStream_map_specific(std::ostream &out) const = 0

Protected Attributes

const mrpt::rtti::TRuntimeClassId::Ptr metricMapClassType

Derived classes set this to CLASS_ID(< class >) where < class > is any CMetricMap derived class.

Friends

friend class TSetOfMetricMapInitializers