Fix the configuration documentation script. (#679)
Fixes #652. Now also includes documentation for one option that was "repeated" and not "optional".master
Wolfgang Hess
Wally B. Feed
parent
c25379cd20
commit
c866707013
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@ -33,70 +33,8 @@ int32 num_threads
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Not yet documented.
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cartographer.mapping.proto.MapBuilderOptions
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============================================
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bool use_trajectory_builder_2d
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Not yet documented.
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bool use_trajectory_builder_3d
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Not yet documented.
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int32 num_background_threads
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Number of threads to use for background computations.
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cartographer.mapping.proto.SparsePoseGraphOptions sparse_pose_graph_options
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Not yet documented.
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cartographer.mapping.proto.SparsePoseGraphOptions
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=================================================
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int32 optimize_every_n_scans
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Online loop closure: If positive, will run the loop closure while the map
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is built.
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cartographer.mapping.sparse_pose_graph.proto.ConstraintBuilderOptions constraint_builder_options
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Options for the constraint builder.
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double matcher_translation_weight
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Weight used in the optimization problem for the translational component of
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non-loop-closure scan matcher constraints.
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double matcher_rotation_weight
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Weight used in the optimization problem for the rotational component of
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non-loop-closure scan matcher constraints.
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cartographer.mapping.sparse_pose_graph.proto.OptimizationProblemOptions optimization_problem_options
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Options for the optimization problem.
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int32 max_num_final_iterations
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Number of iterations to use in 'optimization_problem_options' for the final
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optimization.
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double global_sampling_ratio
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Rate at which we sample a single trajectory's scans for global
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localization.
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bool log_residual_histograms
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Whether to output histograms for the pose residuals.
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cartographer.mapping.proto.TrajectoryBuilderOptions
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===================================================
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cartographer.mapping_2d.proto.LocalTrajectoryBuilderOptions trajectory_builder_2d_options
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Not yet documented.
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cartographer.mapping_3d.proto.LocalTrajectoryBuilderOptions trajectory_builder_3d_options
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Not yet documented.
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bool pure_localization
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Not yet documented.
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cartographer.mapping.sparse_pose_graph.proto.ConstraintBuilderOptions
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=====================================================================
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cartographer.mapping.pose_graph.proto.ConstraintBuilderOptions
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==============================================================
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double sampling_ratio
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A constraint will be added if the proportion of added constraints to
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@ -136,8 +74,8 @@ cartographer.mapping_3d.scan_matching.proto.CeresScanMatcherOptions ceres_scan_m
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Not yet documented.
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cartographer.mapping.sparse_pose_graph.proto.OptimizationProblemOptions
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=======================================================================
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cartographer.mapping.pose_graph.proto.OptimizationProblemOptions
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================================================================
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double huber_scale
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Scaling parameter for Huber loss function.
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@ -167,6 +105,73 @@ cartographer.common.proto.CeresSolverOptions ceres_solver_options
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Not yet documented.
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cartographer.mapping.proto.MapBuilderOptions
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============================================
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bool use_trajectory_builder_2d
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Not yet documented.
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bool use_trajectory_builder_3d
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Not yet documented.
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int32 num_background_threads
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Number of threads to use for background computations.
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cartographer.mapping.proto.SparsePoseGraphOptions sparse_pose_graph_options
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Not yet documented.
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cartographer.mapping.proto.SparsePoseGraphOptions
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=================================================
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int32 optimize_every_n_scans
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Online loop closure: If positive, will run the loop closure while the map
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is built.
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cartographer.mapping.pose_graph.proto.ConstraintBuilderOptions constraint_builder_options
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Options for the constraint builder.
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double matcher_translation_weight
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Weight used in the optimization problem for the translational component of
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non-loop-closure scan matcher constraints.
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double matcher_rotation_weight
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Weight used in the optimization problem for the rotational component of
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non-loop-closure scan matcher constraints.
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cartographer.mapping.pose_graph.proto.OptimizationProblemOptions optimization_problem_options
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Options for the optimization problem.
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int32 max_num_final_iterations
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Number of iterations to use in 'optimization_problem_options' for the final
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optimization.
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double global_sampling_ratio
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Rate at which we sample a single trajectory's scans for global
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localization.
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bool log_residual_histograms
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Whether to output histograms for the pose residuals.
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double global_constraint_search_after_n_seconds
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If for the duration specified by this option no global contraint has been
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added between two trajectories, loop closure searches will be performed
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globally rather than in a smaller search window.
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cartographer.mapping.proto.TrajectoryBuilderOptions
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===================================================
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cartographer.mapping_2d.proto.LocalTrajectoryBuilderOptions trajectory_builder_2d_options
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Not yet documented.
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cartographer.mapping_3d.proto.LocalTrajectoryBuilderOptions trajectory_builder_3d_options
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Not yet documented.
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bool pure_localization
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Not yet documented.
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cartographer.mapping_2d.proto.LocalTrajectoryBuilderOptions
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===========================================================
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@ -353,6 +358,9 @@ double imu_gravity_time_constant
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2. from integration of angular velocities (which gets worse when the
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constant is increased) is balanced.
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int32 rotational_histogram_size
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Number of histogram buckets for the rotational scan matcher.
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cartographer.mapping_3d.proto.SubmapsOptions submaps_options
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Not yet documented.
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@ -413,9 +421,12 @@ cartographer.mapping_3d.proto.RangeDataInserterOptions range_data_inserter_optio
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cartographer.mapping_3d.scan_matching.proto.CeresScanMatcherOptions
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===================================================================
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double translation_weight
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double occupied_space_weight
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Scaling parameters for each cost functor.
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double translation_weight
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Not yet documented.
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double rotation_weight
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Not yet documented.
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@ -437,9 +448,6 @@ int32 full_resolution_depth
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Number of full resolution grids to use, additional grids will reduce the
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resolution by half each.
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int32 rotational_histogram_size
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Number of histogram buckets for the rotational scan matcher.
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double min_rotational_score
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Minimum score for the rotational scan matcher.
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@ -103,7 +103,7 @@ def ParseProtoFile(proto_file):
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# We capture the contents of this message.
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option_comments = []
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multiline = None
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multiline = ''
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for line in line_iter:
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line = line.strip()
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if '}' in line:
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@ -116,21 +116,17 @@ def ParseProtoFile(proto_file):
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option_comments.append(comment)
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else:
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assert not line.startswith('required')
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if multiline is None:
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if line.startswith('optional'):
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multiline = line
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else:
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continue
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else:
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multiline += ' ' + line
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if not multiline.endswith(';'):
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continue
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assert len(multiline) < 200
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option = multiline[8:-1].strip().rstrip('0123456789').strip()
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option = multiline[:-1].strip().rstrip('0123456789').strip()
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assert option.endswith('=')
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if option.startswith('repeated'):
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option = option[8:]
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option_type, option_name = option[:-1].strip().split();
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print(" Option '%s'." % option_name)
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multiline = None
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multiline = ''
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message.AddOption(option_type, option_name, option_comments)
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option_comments = []
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@ -186,6 +182,11 @@ def GenerateDocumentation(output_file, root):
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content.extend(preceding_comments)
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content.append('')
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for option_type, option_name, option_comments in message.options:
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# TODO(whess): For now we exclude InitialTrajectoryPose from the
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# documentation. It is documented itself (since it has no Options suffix)
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# and is not parsed from the Lua files.
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if option_type in ('InitialTrajectoryPose',):
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continue
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content.append(
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resolver.Resolve(option_type, message.package) + ' ' + option_name)
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if not option_comments:
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