MRPT  1.9.9
List of all members | Public Member Functions | Public Attributes
mrpt::slam::CMetricMapBuilder::TOptions Struct Reference

Detailed Description

Options for the algorithm.

Definition at line 113 of file CMetricMapBuilder.h.

#include <mrpt/slam/CMetricMapBuilder.h>

Public Member Functions

 TOptions (mrpt::system::VerbosityLevel &verb_level_ref)
 

Public Attributes

mrpt::system::VerbosityLevelverbosity_level
 
bool enableMapUpdating
 Enable map updating, default is true. More...
 
bool debugForceInsertion
 Always insert into map. More...
 
mrpt::rtti::CListOfClasses alwaysInsertByClass
 A list of observation classes (derived from mrpt::obs::CObservation) which will be always inserted in the map, disregarding the minimum insertion distances). More...
 

Constructor & Destructor Documentation

◆ TOptions()

mrpt::slam::CMetricMapBuilder::TOptions::TOptions ( mrpt::system::VerbosityLevel verb_level_ref)
inline

Definition at line 115 of file CMetricMapBuilder.h.

Member Data Documentation

◆ alwaysInsertByClass

mrpt::rtti::CListOfClasses mrpt::slam::CMetricMapBuilder::TOptions::alwaysInsertByClass

A list of observation classes (derived from mrpt::obs::CObservation) which will be always inserted in the map, disregarding the minimum insertion distances).

Default: Empty. How to insert classes:

alwaysInserByClass.insert(CLASS_ID(CObservationImage));
See also
mrpt::rtti::CListOfClasses

Definition at line 138 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::slam::CMetricMapBuilderICP::processObservation(), and mrpt::apps::ICP_SLAM_App_Base::run().

◆ debugForceInsertion

bool mrpt::slam::CMetricMapBuilder::TOptions::debugForceInsertion

Always insert into map.

Default is false: detect if necesary.

Definition at line 127 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation().

◆ enableMapUpdating

bool mrpt::slam::CMetricMapBuilder::TOptions::enableMapUpdating

Enable map updating, default is true.

Definition at line 125 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilder::enableMapUpdating(), and mrpt::slam::CMetricMapBuilderICP::processObservation().

◆ verbosity_level

mrpt::system::VerbosityLevel& mrpt::slam::CMetricMapBuilder::TOptions::verbosity_level

Definition at line 123 of file CMetricMapBuilder.h.




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