Formula Student Autonomous Systems
The code for the main driverless system
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SLAMParameters Struct Reference

Parameters for the SLAM node. More...

#include <general_config.hpp>

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Public Member Functions

 SLAMParameters ()=default
 
 SLAMParameters (const SLAMParameters &params)
 
std::string load_config ()
 Load the configuration for the SLAM node from YAML file.
 
DataAssociationParameters get_data_association_parameters ()
 Get data association parameters.
 
SLAMParameters & operator= (const SLAMParameters &other)
 Overload the assignment operator for SLAMParameters.
 

Public Attributes

bool use_simulated_perception_ = false
 
bool use_simulated_velocities_ = false
 
std::string motion_model_name_ = "constant_velocity"
 
std::string pose_updater_name_ = "base_pose_updater"
 
int max_pose_history_updater = 30
 
int max_pose_history_graph = 50
 
bool synchronized_timestamps
 
std::string data_association_model_name_ = "nearest_neighbor"
 
std::string lidar_odometry_topic_ = "/fast_limo/state"
 
bool receive_lidar_odometry_ = false
 
std::string slam_solver_name_ = "graph_slam"
 
std::string landmark_filter_name_ = "consecutive_count"
 
std::string frame_id_ = "map"
 
float data_association_limit_distance_
 
float observation_x_noise_
 
float observation_y_noise_
 
float velocity_x_noise_ = 0.1
 
float velocity_y_noise_ = 0.1
 
float angular_velocity_noise_ = 0.1
 
float imu_acceleration_x_noise_ = 0.5
 
double pose_x_initial_noise_ = 0.1
 
double pose_y_initial_noise_ = 0.1
 
double pose_theta_initial_noise_ = 0.1
 
double preloaded_map_noise_ = 0.1
 
double data_association_gate_ = 1.23
 
double new_landmark_confidence_gate_ = 0.6
 
bool using_preloaded_map_ = false
 
double slam_min_pose_difference_
 
double slam_optimization_period_ = 0.0
 
std::string slam_optimization_type_ = "normal_levenberg"
 
std::string slam_optimization_mode_ = "sync"
 
bool slam_optimization_in_poses_ = false
 
double slam_isam2_relinearize_threshold_ = 0.1
 
double slam_isam2_relinearize_skip_ = 1
 
std::string slam_isam2_factorization_ = "QR"
 
unsigned int sliding_window_size_ = 5
 
bool publish_trajectory_ = false
 
double threshold_dist = 4.0
 
int first_x_cones = 10
 
int border_width = 5
 
int minimum_confidence = 3
 
int minimum_observation_count_
 
double minimum_frequency_of_detections_
 

Friends

std::ostream & operator<< (std::ostream &os, const SLAMParameters &params)
 Overload the output stream operator for SLAMParameters.
 

Detailed Description

Parameters for the SLAM node.

Definition at line 12 of file general_config.hpp.

Constructor & Destructor Documentation

◆ SLAMParameters() [1/2]

SLAMParameters::SLAMParameters ( )
default

◆ SLAMParameters() [2/2]

SLAMParameters::SLAMParameters ( const SLAMParameters &  params)

Definition at line 7 of file general_config.cpp.

Member Function Documentation

◆ get_data_association_parameters()

DataAssociationParameters SLAMParameters::get_data_association_parameters ( )
inline

Get data association parameters.

Returns
DataAssociationParameters

Definition at line 85 of file general_config.hpp.

◆ load_config()

std::string SLAMParameters::load_config ( )

Load the configuration for the SLAM node from YAML file.

Returns
std::string adapter_name

Definition at line 104 of file general_config.cpp.

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◆ operator=()

SLAMParameters & SLAMParameters::operator= ( const SLAMParameters &  other)

Overload the assignment operator for SLAMParameters.

Parameters
otherSLAMParameters object to assign from
Returns
SLAMParameters& Reference to the assigned SLAMParameters object

Definition at line 54 of file general_config.cpp.

Friends And Related Symbol Documentation

◆ operator<<

std::ostream & operator<< ( std::ostream &  os,
const SLAMParameters &  params 
)
friend

Overload the output stream operator for SLAMParameters.

Parameters
osOutput stream
paramsSLAMParameters object
Returns
std::ostream& Output stream

Definition at line 97 of file general_config.hpp.

Member Data Documentation

◆ angular_velocity_noise_

float SLAMParameters::angular_velocity_noise_ = 0.1

Definition at line 36 of file general_config.hpp.

◆ border_width

int SLAMParameters::border_width = 5

Definition at line 62 of file general_config.hpp.

◆ data_association_gate_

double SLAMParameters::data_association_gate_ = 1.23

Definition at line 42 of file general_config.hpp.

◆ data_association_limit_distance_

float SLAMParameters::data_association_limit_distance_
Initial value:
=
70

Definition at line 28 of file general_config.hpp.

◆ data_association_model_name_

std::string SLAMParameters::data_association_model_name_ = "nearest_neighbor"

Definition at line 22 of file general_config.hpp.

◆ first_x_cones

int SLAMParameters::first_x_cones = 10

Definition at line 61 of file general_config.hpp.

◆ frame_id_

std::string SLAMParameters::frame_id_ = "map"

Definition at line 27 of file general_config.hpp.

◆ imu_acceleration_x_noise_

float SLAMParameters::imu_acceleration_x_noise_ = 0.5

Definition at line 37 of file general_config.hpp.

◆ landmark_filter_name_

std::string SLAMParameters::landmark_filter_name_ = "consecutive_count"

Definition at line 26 of file general_config.hpp.

◆ lidar_odometry_topic_

std::string SLAMParameters::lidar_odometry_topic_ = "/fast_limo/state"

Definition at line 23 of file general_config.hpp.

◆ max_pose_history_graph

int SLAMParameters::max_pose_history_graph = 50

Definition at line 19 of file general_config.hpp.

◆ max_pose_history_updater

int SLAMParameters::max_pose_history_updater = 30

Definition at line 18 of file general_config.hpp.

◆ minimum_confidence

int SLAMParameters::minimum_confidence = 3

Definition at line 63 of file general_config.hpp.

◆ minimum_frequency_of_detections_

double SLAMParameters::minimum_frequency_of_detections_
Initial value:
=
5

Definition at line 69 of file general_config.hpp.

◆ minimum_observation_count_

int SLAMParameters::minimum_observation_count_
Initial value:
=
3

Definition at line 67 of file general_config.hpp.

◆ motion_model_name_

std::string SLAMParameters::motion_model_name_ = "constant_velocity"

Definition at line 15 of file general_config.hpp.

◆ new_landmark_confidence_gate_

double SLAMParameters::new_landmark_confidence_gate_ = 0.6

Definition at line 43 of file general_config.hpp.

◆ observation_x_noise_

float SLAMParameters::observation_x_noise_
Initial value:
=
0.01

Definition at line 30 of file general_config.hpp.

◆ observation_y_noise_

float SLAMParameters::observation_y_noise_
Initial value:
=
0.01

Definition at line 32 of file general_config.hpp.

◆ pose_theta_initial_noise_

double SLAMParameters::pose_theta_initial_noise_ = 0.1

Definition at line 40 of file general_config.hpp.

◆ pose_updater_name_

std::string SLAMParameters::pose_updater_name_ = "base_pose_updater"

Definition at line 16 of file general_config.hpp.

◆ pose_x_initial_noise_

double SLAMParameters::pose_x_initial_noise_ = 0.1

Definition at line 38 of file general_config.hpp.

◆ pose_y_initial_noise_

double SLAMParameters::pose_y_initial_noise_ = 0.1

Definition at line 39 of file general_config.hpp.

◆ preloaded_map_noise_

double SLAMParameters::preloaded_map_noise_ = 0.1

Definition at line 41 of file general_config.hpp.

◆ publish_trajectory_

bool SLAMParameters::publish_trajectory_ = false

Definition at line 57 of file general_config.hpp.

◆ receive_lidar_odometry_

bool SLAMParameters::receive_lidar_odometry_ = false

Definition at line 24 of file general_config.hpp.

◆ slam_isam2_factorization_

std::string SLAMParameters::slam_isam2_factorization_ = "QR"

Definition at line 55 of file general_config.hpp.

◆ slam_isam2_relinearize_skip_

double SLAMParameters::slam_isam2_relinearize_skip_ = 1

Definition at line 54 of file general_config.hpp.

◆ slam_isam2_relinearize_threshold_

double SLAMParameters::slam_isam2_relinearize_threshold_ = 0.1

Definition at line 53 of file general_config.hpp.

◆ slam_min_pose_difference_

double SLAMParameters::slam_min_pose_difference_
Initial value:
=
0.3

Definition at line 45 of file general_config.hpp.

◆ slam_optimization_in_poses_

bool SLAMParameters::slam_optimization_in_poses_ = false

Definition at line 51 of file general_config.hpp.

◆ slam_optimization_mode_

std::string SLAMParameters::slam_optimization_mode_ = "sync"

Definition at line 50 of file general_config.hpp.

◆ slam_optimization_period_

double SLAMParameters::slam_optimization_period_ = 0.0

Definition at line 47 of file general_config.hpp.

◆ slam_optimization_type_

std::string SLAMParameters::slam_optimization_type_ = "normal_levenberg"

Definition at line 49 of file general_config.hpp.

◆ slam_solver_name_

std::string SLAMParameters::slam_solver_name_ = "graph_slam"

Definition at line 25 of file general_config.hpp.

◆ sliding_window_size_

unsigned int SLAMParameters::sliding_window_size_ = 5

Definition at line 56 of file general_config.hpp.

◆ synchronized_timestamps

bool SLAMParameters::synchronized_timestamps
Initial value:
=
true

Definition at line 20 of file general_config.hpp.

◆ threshold_dist

double SLAMParameters::threshold_dist = 4.0

Definition at line 60 of file general_config.hpp.

◆ use_simulated_perception_

bool SLAMParameters::use_simulated_perception_ = false

Definition at line 13 of file general_config.hpp.

◆ use_simulated_velocities_

bool SLAMParameters::use_simulated_velocities_ = false

Definition at line 14 of file general_config.hpp.

◆ using_preloaded_map_

bool SLAMParameters::using_preloaded_map_ = false

Definition at line 44 of file general_config.hpp.

◆ velocity_x_noise_

float SLAMParameters::velocity_x_noise_ = 0.1

Definition at line 34 of file general_config.hpp.

◆ velocity_y_noise_

float SLAMParameters::velocity_y_noise_ = 0.1

Definition at line 35 of file general_config.hpp.

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