Struct CMetricMapBuilder::TOptions

Defined in File CMetricMapBuilder.h

Nested Relationships

This struct is a nested type of Class CMetricMapBuilder.

Struct Documentation

struct TOptions

Options for the algorithm

Public Functions

inline TOptions(mrpt::system::VerbosityLevel &verb_level_ref)

Public Members

mrpt::system::VerbosityLevel &verbosity_level

bool enableMapUpdating = true: Enable map updating, default is true.

bool debugForceInsertion = false: Always insert into map. Default is false: detect if necessary.

mrpt::rtti::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). Default: Empty. How to insert classes:

alwaysInserByClass.insert(CLASS_ID(CObservationImage));