mrpt::global_settings Namespace Reference

Detailed Description

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.

Variables
BASE_IMPEXP bool	USE_SUT_QUAT2EULER_CONVERSION = false
	If set to true (false), a Scaled Unscented Transform is used instead of a linear approximation with Jacobians. More...
BASE_IMPEXP bool	USE_SUT_EULER2QUAT_CONVERSION = false
	If set to true (default), a Scaled Unscented Transform is used instead of a linear approximation with Jacobians. More...
MAPS_IMPEXP bool	HEIGHTGRIDMAP_EXPORT3D_AS_MESH = true
	If set to true (default), mrpt::maps::CHeightGridMap2D will be exported as a opengl::CMesh, otherwise, as a opengl::CPointCloudColoured Affects to: More...
MAPS_IMPEXP float	POINTSMAPS_3DOBJECT_POINTSIZE = 3.0f
	The size of points when exporting with getAs3DObject() (default=3.0) Affects to: More...
OPENGL_IMPEXP float	OCTREE_RENDER_MAX_DENSITY_POINTS_PER_SQPIXEL = 0.10f
	Default value = 0.01 points/px^2. More...
OPENGL_IMPEXP size_t	OCTREE_RENDER_MAX_POINTS_PER_NODE = 1e6
	Default value = 1e5. More...

Variable Documentation

HEIGHTGRIDMAP_EXPORT3D_AS_MESH

bool mrpt::global_settings::HEIGHTGRIDMAP_EXPORT3D_AS_MESH = true

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

• CHeightGridMap2D::getAs3DObject

Definition at line 83 of file CHeightGridMap2D.cpp.

Referenced by mrpt::maps::CHeightGridMap2D::getAs3DObject().

POINTSMAPS_3DOBJECT_POINTSIZE

float mrpt::global_settings::POINTSMAPS_3DOBJECT_POINTSIZE = 3.0f

The size of points when exporting with getAs3DObject() (default=3.0) Affects to:

• mrpt::maps::CPointsMap and all its children classes.

Definition at line 54 of file CPointsMap.cpp.

Referenced by mrpt::maps::CColouredPointsMap::getAs3DObject(), and mrpt::maps::CPointsMap::getAs3DObject().

USE_SUT_EULER2QUAT_CONVERSION

bool mrpt::global_settings::USE_SUT_EULER2QUAT_CONVERSION = false

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)

Definition at line 30 of file CPose3DQuatPDFGaussian.cpp.

Referenced by mrpt::poses::CPose3DQuatPDFGaussian::copyFrom().

USE_SUT_QUAT2EULER_CONVERSION

bool mrpt::global_settings::USE_SUT_QUAT2EULER_CONVERSION = false

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)

Definition at line 31 of file CPose3DPDFGaussian.cpp.

Referenced by mrpt::poses::CPose3DPDFGaussian::copyFrom().