namespace mrpt::global_settings

Global variables to change the run-time behaviour of some MRPT classes within mrpt-base.

See each variable for the description of what classes it affects.

namespace global_settings {

// global functions

void HEIGHTGRIDMAP_EXPORT3D_AS_MESH(bool value);
bool HEIGHTGRIDMAP_EXPORT3D_AS_MESH();
void OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL(float value);
float OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL();
size_t OCTREE_RENDER_MAX_POINTS_PER_NODE();
void OCTREE_RENDER_MAX_POINTS_PER_NODE(size_t value);
void USE_SUT_QUAT2EULER_CONVERSION(bool value);
bool USE_SUT_QUAT2EULER_CONVERSION();
void USE_SUT_EULER2QUAT_CONVERSION(bool value);
bool USE_SUT_EULER2QUAT_CONVERSION();

} // namespace global_settings

Global Functions

void HEIGHTGRIDMAP_EXPORT3D_AS_MESH(bool value)

If set to true (default), mrpt::maps::CHeightGridMap2D will be exported as a opengl::CMesh, otherwise, as a opengl::CPointCloudColoured Affects to:

  • CHeightGridMap2D::getAs3DObject

void USE_SUT_QUAT2EULER_CONVERSION(bool value)

If set to true (false), a Scaled Unscented Transform is used instead of a linear approximation with Jacobians.

Affects to:

  • CPose3DPDFGaussian::CPose3DPDFGaussian( const CPose3DQuatPDFGaussian &o)

void USE_SUT_EULER2QUAT_CONVERSION(bool value)

If set to true (default), a Scaled Unscented Transform is used instead of a linear approximation with Jacobians.

Affects to:

  • CPose3DQuatPDFGaussian::copyFrom(const CPose3DPDFGaussian &o)

  • CPose3DQuatPDFGaussianInf::copyFrom(const CPose3DPDFGaussianInf &o)