struct mrpt::slam::CMetricMapBuilder::TOptions

Overview

Options for the algorithm.

#include <mrpt/slam/CMetricMapBuilder.h>

struct TOptions
{
    // fields

    mrpt::system::VerbosityLevel& verbosity_level;
    bool enableMapUpdating = true;
    bool debugForceInsertion = false;
    mrpt::rtti::CListOfClasses alwaysInsertByClass;

    // construction

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

Fields

bool enableMapUpdating = true

Enable map updating, default is true.

bool debugForceInsertion = false

Always insert into map.

Default is false: detect if necessary.

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).

Default: Empty. How to insert classes:

alwaysInserByClass.insert(CLASS_ID(CObservationImage));