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mrpt::slam::CMetricMapBuilder::TOptions Struct Reference

Detailed Description

Options for the algorithm.

Definition at line 100 of file CMetricMapBuilder.h.

#include <mrpt/slam/CMetricMapBuilder.h>

Public Member Functions

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

Public Attributes

mrpt::utils::VerbosityLevel & verbosity_level
 
bool enableMapUpdating
 Enable map updating, default is true. More...
 
bool debugForceInsertion
 Always insert into map. Default is false: detect if necesary. More...
 
mrpt::utils::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

mrpt::slam::CMetricMapBuilder::TOptions::TOptions ( mrpt::utils::VerbosityLevel &  verb_level_ref)
inline

Definition at line 102 of file CMetricMapBuilder.h.

Member Data Documentation

mrpt::utils::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::utils::CListOfClasses

Definition at line 121 of file CMetricMapBuilder.h.

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

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

Always insert into map. Default is false: detect if necesary.

Definition at line 112 of file CMetricMapBuilder.h.

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

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

Enable map updating, default is true.

Definition at line 111 of file CMetricMapBuilder.h.

Referenced by mrpt::slam::CMetricMapBuilderICP::processObservation().

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

Definition at line 110 of file CMetricMapBuilder.h.




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