mrpt::apps::ICP_SLAM_App_Base Class Reference

Detailed Description

ICP-SLAM virtual base class for application wrappers.

This virtual base provides the common code to the applications icp-slam and icp-slam-live, and could be used by users to build their own ICP-SLAM solution.

See also

mrpt::slam::CMetricMapBuilderICP

Definition at line 31 of file ICP_SLAM_App.h.

#include <mrpt/apps/ICP_SLAM_App.h>

Inheritance diagram for mrpt::apps::ICP_SLAM_App_Base:

Public Member Functions
	ICP_SLAM_App_Base ()
Main API
void	initialize (int argc, const char **argv)
	Initializes the application from CLI parameters. More...
void	initialize (int argc, char **argv)
void	run ()
	Runs with the current parameter set. More...

Static Public Member Functions
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_colors ()
	Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > &	logging_levels_to_names ()
	Map from VerbosityLevels to their corresponding names. More...

Public Attributes
Parameters and options. See: initialize()
mrpt::config::CConfigFileMemory	params
	Populated in initialize(). More...
bool	quits_with_esc_key = true
	If enabled (default), stdin will be watched and application quits if ESC is pressed. More...
Outputs and result variables
std::map< mrpt::system::TTimeStamp, mrpt::math::TPose3D >	out_estimated_path

Protected Member Functions
virtual void	impl_initialize (int argc, const char **argv)=0
virtual std::string	impl_get_usage () const =0
virtual bool	impl_get_next_observations (mrpt::obs::CActionCollection::Ptr &action, mrpt::obs::CSensoryFrame::Ptr &observations, mrpt::obs::CObservation::Ptr &observation)=0
	Get next sensory data. More...

Protected Attributes
VerbosityLevel	m_min_verbosity_level {LVL_INFO}
	Provided messages with VerbosityLevel smaller than this value shall be ignored. More...

Logging methods
bool	logging_enable_console_output {true}
	[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
bool	logging_enable_keep_record {false}
	[Default=false] Enables storing all messages into an internal list. More...
void	logStr (const VerbosityLevel level, std::string_view msg_str) const
	Main method to add the specified message string to the logger. More...
void	logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
	Alternative logging method, which mimics the printf behavior. More...
void void	logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
	Log the given message only if the condition is satisfied. More...
void	setLoggerName (const std::string &name)
	Set the name of the COutputLogger instance. More...
std::string	getLoggerName () const
	Return the name of the COutputLogger instance. More...
void	setMinLoggingLevel (const VerbosityLevel level)
	Set the minimum logging level for which the incoming logs are going to be taken into account. More...
void	setVerbosityLevel (const VerbosityLevel level)
	alias of setMinLoggingLevel() More...
VerbosityLevel	getMinLoggingLevel () const
bool	isLoggingLevelVisible (VerbosityLevel level) const
void	getLogAsString (std::string &log_contents) const
	Fill the provided string with the contents of the logger's history in std::string representation. More...
std::string	getLogAsString () const
	Get the history of COutputLogger instance in a string representation. More...
void	writeLogToFile (const std::string *fname_in=nullptr) const
	Write the contents of the COutputLogger instance to an external file. More...
void	dumpLogToConsole () const
	Dump the current contents of the COutputLogger instance in the terminal window. More...
std::string	getLoggerLastMsg () const
	Return the last Tmsg instance registered in the logger history. More...
void	getLoggerLastMsg (std::string &msg_str) const
	Fill inputtted string with the contents of the last message in history. More...
void	loggerReset ()
	Reset the contents of the logger instance. More...
void	logRegisterCallback (output_logger_callback_t userFunc)
bool	logDeregisterCallback (output_logger_callback_t userFunc)

Constructor & Destructor Documentation

ICP_SLAM_App_Base()

ICP_SLAM_App_Base::ICP_SLAM_App_Base

(

)

Definition at line 37 of file ICP_SLAM_App.cpp.

References mrpt::system::COutputLogger::setLoggerName().

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Member Function Documentation

dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const

inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also

writeToFile

Definition at line 190 of file COutputLogger.cpp.

getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string &  log_contents ) const

inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const

inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const

inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string &  msg_str ) const

inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

getLoggerName()

std::string COutputLogger::getLoggerName ( ) const

inherited

Return the name of the COutputLogger instance.

See also

setLoggerName

Definition at line 143 of file COutputLogger.cpp.

getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const

inlineinherited

See also

setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and run().

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impl_get_next_observations()

virtual bool mrpt::apps::BaseAppDataSource::impl_get_next_observations ( mrpt::obs::CActionCollection::Ptr &  action, mrpt::obs::CSensoryFrame::Ptr &  observations, mrpt::obs::CObservation::Ptr &  observation  )

protectedpure virtualinherited

Get next sensory data.

Return false on any error, true if success.

Implemented in mrpt::apps::ICP_SLAM_App_Live, and mrpt::apps::DataSourceRawlog.

Referenced by run(), and mrpt::apps::RBPF_SLAM_App_Base::run().

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impl_get_usage()

virtual std::string mrpt::apps::BaseAppInitializableCLI::impl_get_usage ( ) const

protectedpure virtualinherited

Implemented in mrpt::apps::MonteCarloLocalization_Rawlog, mrpt::apps::ICP_SLAM_App_Live, mrpt::apps::RBPF_SLAM_App_Rawlog, and mrpt::apps::ICP_SLAM_App_Rawlog.

Referenced by mrpt::apps::ICP_SLAM_App_Live::impl_initialize(), initialize(), mrpt::apps::MonteCarloLocalization_Base::initialize(), and mrpt::apps::RBPF_SLAM_App_Base::initialize().

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impl_initialize()

virtual void mrpt::apps::BaseAppInitializableCLI::impl_initialize ( int  argc, const char **  argv  )

protectedpure virtualinherited

Implemented in mrpt::apps::MonteCarloLocalization_Rawlog, mrpt::apps::ICP_SLAM_App_Live, mrpt::apps::RBPF_SLAM_App_Rawlog, and mrpt::apps::ICP_SLAM_App_Rawlog.

Referenced by initialize(), mrpt::apps::MonteCarloLocalization_Base::initialize(), and mrpt::apps::RBPF_SLAM_App_Base::initialize().

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initialize() [1/2]

void ICP_SLAM_App_Base::initialize	(	int	argc,
		const char **	argv
	)

Initializes the application from CLI parameters.

Refer to the manpage of icp-slam and icp-slam-live. Throws on errors.

Definition at line 43 of file ICP_SLAM_App.cpp.

References argc, argv, ASSERT_FILE_EXISTS_, mrpt::io::file_get_contents(), mrpt::apps::BaseAppInitializableCLI::impl_get_usage(), mrpt::apps::BaseAppInitializableCLI::impl_initialize(), MRPT_END, mrpt::system::MRPT_getCompilationDate(), mrpt::system::MRPT_getVersion(), MRPT_LOG_INFO_FMT, MRPT_START, params, mrpt::config::CConfigFileMemory::setContent(), and THROW_EXCEPTION_FMT.

Referenced by initialize().

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initialize() [2/2]

void mrpt::apps::ICP_SLAM_App_Base::initialize ( int  argc, char **  argv  )

inline

Definition at line 46 of file ICP_SLAM_App.h.

References argc, argv, and initialize().

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isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level ) const

inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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logCond()

void COutputLogger::logCond ( const VerbosityLevel  level, bool  cond, const std::string &  msg_str  ) const

inherited

Log the given message only if the condition is satisfied.

See also

log, logFmt

Definition at line 131 of file COutputLogger.cpp.

logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc )

inherited

Returns

true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level, const char *  fmt,   ...  ) const

inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));

// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);

See also

logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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loggerReset()

void COutputLogger::loggerReset ( )

inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )

staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )

staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc )

inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

logStr()

void COutputLogger::logStr ( const VerbosityLevel  level, std::string_view  msg_str  ) const

inherited

Main method to add the specified message string to the logger.

See also

logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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run()

void ICP_SLAM_App_Base::run

(

)

Runs with the current parameter set.

Throws on errors.

Definition at line 70 of file ICP_SLAM_App.cpp.

References mrpt::slam::CMetricMapBuilder::TOptions::alwaysInsertByClass, mrpt::serialization::archiveFrom(), ASSERT_, mrpt::poses::CPose3D::asTPose(), mrpt::opengl::CSetOfObjects::Create(), mrpt::opengl::CGridPlaneXY::Create(), mrpt::opengl::COpenGLScene::Create(), mrpt::opengl::CPlanarLaserScan::Create(), mrpt::system::createDirectory(), mrpt::system::deleteFilesInDirectory(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream(), mrpt::config::CLoadableOptions::dumpToTextStream(), mrpt::system::os::fclose(), mrpt::system::os::fopen(), mrpt::format(), mrpt::system::os::fprintf(), mrpt::rtti::CListOfClasses::fromString(), mrpt::maps::CMultiMetricMap::getAs3DObject(), mrpt::system::os::getch(), mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMap(), mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMapSize(), mrpt::slam::CMetricMapBuilderICP::getCurrentlyBuiltMetricMap(), mrpt::slam::CMetricMapBuilderICP::getCurrentPoseEstimation(), mrpt::system::getMemoryUsage(), mrpt::system::COutputLogger::getMinLoggingLevel(), mrpt::slam::CMetricMapBuilderICP::ICP_options, mrpt::slam::CMetricMapBuilderICP::ICP_params, mrpt::apps::BaseAppDataSource::impl_get_next_observations(), mrpt::slam::CMetricMapBuilderICP::initialize(), INVALID_TIMESTAMP, IS_CLASS, mrpt::system::os::kbhit(), mrpt::config::CConfigFileBase::keyExists(), mrpt::slam::CMetricMapBuilderICP::TConfigParams::loadFromConfigFile(), mrpt::slam::CICP::TConfigParams::loadFromConfigFile(), mrpt::system::LVL_INFO, mrpt::maps::CMultiMetricMap::mapByClass(), MRPT_END, MRPT_LOAD_CONFIG_VAR, MRPT_LOG_INFO, MRPT_LOG_INFO_FMT, MRPT_START, mrpt::slam::CMetricMapBuilder::options, out_estimated_path, params, mrpt::poses::CPose2D::phi(), mrpt::io::CStream::printf(), mrpt::slam::CMetricMapBuilderICP::processActionObservation(), mrpt::slam::CMetricMapBuilderICP::processObservation(), quits_with_esc_key, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_enum(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), mrpt::opengl::stock_objects::RobotPioneer(), mrpt::slam::CMetricMapBuilder::saveCurrentMapToFile(), mrpt::maps::CMultiMetricMap::saveMetricMapRepresentationToFile(), sect, mrpt::opengl::CCamera::setAzimuthDegrees(), mrpt::opengl::CCamera::setElevationDegrees(), mrpt::system::COutputLogger::setMinLoggingLevel(), mrpt::opengl::CCamera::setPointingAt(), mrpt::system::COutputLogger::setVerbosityLevel(), mrpt::opengl::CCamera::setZoomDistance(), mrpt::system::CTicTac::Tac(), mrpt::system::CTicTac::Tic(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::poses::CPose3D::yaw().

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setLoggerName()

void COutputLogger::setLoggerName ( const std::string &  name )

inherited

Set the name of the COutputLogger instance.

See also

getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level )

inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and run().

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setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level )

inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and run().

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writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = nullptr ) const

inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also

dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Member Data Documentation

logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}

inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}

inherited

[Default=false] Enables storing all messages into an internal list.

See also

writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}

protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

out_estimated_path

std::map<mrpt::system::TTimeStamp, mrpt::math::TPose3D> mrpt::apps::ICP_SLAM_App_Base::out_estimated_path

Definition at line 73 of file ICP_SLAM_App.h.

Referenced by run().

params

mrpt::config::CConfigFileMemory mrpt::apps::ICP_SLAM_App_Base::params

Populated in initialize().

Can be replaced or manipulated by the user after that and before run() to change the parameters loaded from INI file.

Definition at line 62 of file ICP_SLAM_App.h.

Referenced by mrpt::apps::ICP_SLAM_App_Rawlog::impl_initialize(), mrpt::apps::ICP_SLAM_App_Live::impl_initialize(), initialize(), and run().

quits_with_esc_key

bool mrpt::apps::ICP_SLAM_App_Base::quits_with_esc_key = true

If enabled (default), stdin will be watched and application quits if ESC is pressed.

Definition at line 66 of file ICP_SLAM_App.h.

Referenced by run().