Struct SparseTreesPointCloud::TInsertionOptions

Nested Relationships

This struct is a nested type of Class SparseTreesPointCloud.

Inheritance Relationships

Base Type

  • public mrpt::config::CLoadableOptions

Struct Documentation

struct TInsertionOptions : public mrpt::config::CLoadableOptions

Options for insertObservation()

Public Functions

TInsertionOptions() = default
void loadFromConfigFile(const mrpt::config::CConfigFileBase &source, const std::string &section) override
void dumpToTextStream(std::ostream &out) const override
void writeToStream(mrpt::serialization::CArchive &out) const
void readFromStream(mrpt::serialization::CArchive &in)

Public Members

float minimum_points_clearance = 0.20f

Minimum distance between an inserted point and the existing ones in the map for it to be actually inserted.

float remove_submaps_farther_than = .0f

If !=0, remove the submap blocks farther (L1 distance) than this distance [meters]