struct mrpt::graphslam::deciders::CICPCriteriaNRD::TParams¶

#include <mrpt/graphslam/NRD/CICPCriteriaNRD.h>

struct TParams: public mrpt::config::CLoadableOptions
{
    //
fields

    decider_t& decider;
    double registration_max_distance;
    double registration_max_angle;

    // construction

    TParams(decider_t& d);

    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section);
    virtual void dumpToTextStream(std::ostream& out) const;
};

Inherited Members¶

public:
    //
methods

    virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section) = 0;
    void loadFromConfigFileName(const std::string& config_file, const std::string& section);
    virtual void saveToConfigFile(mrpt::config::CConfigFileBase& target, const std::string& section) const;
    void saveToConfigFileName(const std::string& config_file, const std::string& section) const;
    void dumpToConsole() const;
    virtual void dumpToTextStream(std::ostream& out) const;

Fields¶

decider_t& decider

Reference to outer decider class.

double registration_max_distance

Maximum distance for new node registration.

double registration_max_angle

Maximum angle difference for new node registration.

Methods¶

virtual void loadFromConfigFile(const mrpt::config::CConfigFileBase& source, const std::string& section)

This method load the options from a “.ini”-like file or memory-stored string list.

Only those parameters found in the given “section” and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an “.ini” file:

[section]
resolution    = 0.10   // blah blah...
modeSelection = 1      // 0=blah, 1=blah,...