Struct CMetricMapBuilderICP::TConfigParams

Nested Relationships

This struct is a nested type of Class CMetricMapBuilderICP.

Inheritance Relationships

Base Type

  • public mrpt::config::CLoadableOptions

Struct Documentation

struct TConfigParams : public mrpt::config::CLoadableOptions

Algorithm configuration params

Public Functions

TConfigParams(mrpt::system::VerbosityLevel &parent_verbosity_level)

Initializer

TConfigParams &operator=(const TConfigParams &other)
inline TConfigParams(const TConfigParams &other)
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
void dumpToTextStream(std::ostream &out) const override

Public Members

bool matchAgainstTheGrid

(default:false) Match against the occupancy grid or the points map? The former is quicker but less precise.

double insertionLinDistance

Minimum robot linear (m) displacement for a new observation to be inserted in the map.

double insertionAngDistance

Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map.

double localizationLinDistance

Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).

double localizationAngDistance

Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry).

double minICPgoodnessToAccept

Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40)

mrpt::system::VerbosityLevel &verbosity_level
mrpt::maps::TSetOfMetricMapInitializers mapInitializers

What maps to create (at least one points map and/or a grid map are needed). For the expected format in the .ini file when loaded with loadFromConfigFile(), see documentation of TSetOfMetricMapInitializers.