struct mrpt::graphslam::deciders::CLoopCloserERD::TGetICPEdgeAdParams

Struct for passing additional parameters to the getICPEdge call.

Handy for overriding the search to the GRAPH_T::nodes map or the search for the node’s LaserScan

#include <mrpt/graphslam/ERD/CLoopCloserERD.h>

struct TGetICPEdgeAdParams
{
    // typedefs

    typedef TGetICPEdgeAdParams self_t;

    //
fields

    node_props_t from_params;
    node_props_t to_params;
    pose_t init_estim;

    //
methods

    void getAsString(std::string* str) const;
    std::string getAsString() const;
};

Fields

node_props_t from_params

Ad.

params for the from_node

node_props_t to_params

Ad.

params for the to_node

pose_t init_estim

Initial ICP estimation.