Put SLAM Options default values in the declaration.

include/lama/pf_slam2d.h

@@ -82,59 +82,53 @@ class PFSlam2D {
     };
 
     struct Options {
-        Options();
+        Options(){}
 
-        /// the number of particles to use
+        /// The number of particles to use
         uint32_t particles;
-
-        ///
-        bool use_gaussian_proposal;
-
-        double srr;
-        double str;
-        double stt;
-        double srt;
-
-        double meas_sigma;
-        double meas_sigma_gain;
-
-        /// the ammount of displacement that the system must
+        /// How much the rotation affects rotation.
+        double srr = 0.1;
+        /// How much the translation affects rotation.
+        double str = 0.2;
+        /// How much the translation affects translation.
+        double stt = 0.1;
+        /// How much the rotation affects translation.
+        double srt = 0.2;
+        /// Measurement confidence.
+        double meas_sigma = 0.05;
+        /// Use this to smooth the measurements likelihood.
+        double meas_sigma_gain = 3;
+        /// The ammount of displacement that the system must
         /// gather before any update takes place.
-        double trans_thresh;
-
-        /// the ammout of rotation that the system must
+        double trans_thresh = 0.5;
+        /// The ammout of rotation that the system must
         /// gather before any update takes place.
-        double rot_thresh;
-
-        /// maximum distance (in meters) of the euclidean distance map.
-        double l2_max;
-
-        double truncated_ray;
-
-        /// resolutions of the maps.
-        double resolution;
-
+        double rot_thresh = 0.5;
+        /// Maximum distance (in meters) of the euclidean distance map.
+        double l2_max = 0.5;
+        /// If != from zero, truncate the ray lenght (includes the endpoint).
+        double truncated_ray = 0.0;
+        /// Resolutions of the maps.
+        double resolution = 0.05;
         /// The side size of a patch
-        uint32_t patch_size;
-
-        /// maximum number of iterations that the optimizer
+        uint32_t patch_size = 32;
+        /// Maximum number of iterations that the optimizer
         /// can achieve.
-        uint32_t max_iter;
-
-        /// strategy to use in the optimization.
-        std::string strategy;
-
-        int32_t threads;
-
-        uint32_t seed;
-
-        ///
-        bool use_compression;
-        uint32_t cache_size;
-
-        /// compression algorithm to use when compression is activated
-        std::string calgorithm;
-
+        uint32_t max_iter = 100;
+        /// Strategy to use in the optimization.
+        std::string strategy = "gn";
+        /// Number of working threads.
+        /// -1 for none, 0 for auto, >0 user define number of workers.
+        int32_t threads = -1;
+        /// Pseudo random generator seed.
+        /// Use 0 to generate a new seed.
+        uint32_t seed = 0;
+        /// Should online data compression be used or not.
+        bool use_compression = false;
+        /// Size of LRU.
+        uint32_t cache_size = 100;
+        /// Compression algorithm to use when compression is activated
+        std::string calgorithm = "lz4";
     };
 
     PFSlam2D(const Options& options = Options());

include/lama/slam2d.h

@@ -53,44 +53,32 @@ class Slam2D {
     typedef RobustCost::Ptr RobustCostPtr;
 
     struct Options {
-        Options();
-        /// the ammount of displacement that the system must
-        /// gather before any update takes place.
-        double trans_thresh;
+        Options(){}
 
-        /// the ammout of rotation that the system must
+        /// The ammount of linear motion that the system must
         /// gather before any update takes place.
-        double rot_thresh;
-
-        /// maximum distance (in meters) of the euclidean distance map.
-        double l2_max;
-
-        double truncated_ray;
-
-        /// resolutions of the maps.
-        double resolution;
-
-        /// The side size of a patch
-        uint32_t patch_size;
-
-        /// maximum number of iterations that the optimizer
-        /// can achieve.
-        uint32_t max_iter;
-
-        /// strategy to use in the optimization.
-        std::string strategy;
-
-        /// wether or not to keep an execution summary.
-        bool keep_summary;
-
-        /// online data compression
-        bool use_compression;
-
-        /// size of LRU
-        uint32_t cache_size;
-
-        /// compression algorithm to use when compression is activated
-        std::string calgorithm;
+        double trans_thresh = 0.5;
+        /// The ammout of rotation that the system must
+        /// gather before any update takes place.
+        double rot_thresh = 0.5;
+        /// Maximum distance (in meters) of the euclidean distance map.
+        double l2_max = 0.5;
+        /// If != from zero, truncate the ray lenght (includes the endpoint).
+        double truncated_ray = 0.0;
+        /// Resolutions of the maps.
+        double resolution = 0.05;
+        /// The side size of a patch.
+        uint32_t patch_size = 32;
+        /// Maximum number of iterations that the optimizer can achieve.
+        uint32_t max_iter = 100;
+        /// Strategy to use in the optimization.
+        std::string strategy = "gn";
+        /// Should online data compression be used or not.
+        bool use_compression = false;
+        /// Size of LRU.
+        uint32_t cache_size = 100;
+        /// Compression algorithm to use when compression is activated
+        std::string calgorithm = "lz4";
     };
 
 

src/pf_slam2d.cpp

@@ -46,34 +46,9 @@
 
 #include "lama/sdm/export.h"
 
-lama::PFSlam2D::Options::Options()
-{
-    particles = 30;
-    use_gaussian_proposal = false;
-    srr = 0.1;
-    srt = 0.2;
-    str = 0.1;
-    stt = 0.2;
-    meas_sigma = 0.05;
-    meas_sigma_gain = 3;
-
-    trans_thresh    = 0.5;
-    rot_thresh      = 0.5;
-    l2_max          = 0.5;
-    truncated_ray   = -1;
-    resolution      = 0.05;
-    patch_size      = 32;
-    max_iter        = 100;
-
-    threads = -1;
-    use_compression = false;
-    cache_size = 60;
-}
-
 lama::PFSlam2D::PFSlam2D(const Options& options)
     : options_(options)
 {
-    /* solver_options_.write_to_stdout= true; */
     solver_options_.max_iterations = options.max_iter;
     solver_options_.strategy       = makeStrategy(options.strategy, Vector2d::Zero());
     /* solver_options_.robust_cost    = makeRobust("cauchy", 0.25); */

src/slam2d.cpp

@@ -41,22 +41,6 @@
 #include "lama/slam2d.h"
 #include "lama/match_surface_2d.h"
 
-lama::Slam2D::Options::Options()
-{
-    trans_thresh = 0.5;
-    rot_thresh   = 0.5;
-    l2_max       = 1.0;
-    truncated_ray= 0.0;
-    resolution   = 0.05;
-    patch_size   = 20;
-    max_iter     = 100;
-    keep_summary = false;
-
-    use_compression = false;
-    cache_size      = 60;
-    calgorithm      = "lz4";
-}
-
 lama::Slam2D::Slam2D(const Options& options)
 {
     distance_map_ = new DynamicDistanceMap(options.resolution, options.patch_size);