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<title>The MRPT project: mrpt::hmtslam::CHMTSLAM::TOptions Struct Reference</title>
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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1hmtslam.html">hmtslam</a>::<a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a>::<a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html">TOptions</a>
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<h1>mrpt::hmtslam::CHMTSLAM::TOptions Struct Reference</h1><!-- doxytag: class="mrpt::hmtslam::CHMTSLAM::TOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" -->
<p>A variety of options and configuration params (private, use loadOptions).
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">mrpt/hmtslam/CHMTSLAM.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::hmtslam::CHMTSLAM::TOptions:</div>
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<div class="center"><img src="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options__inherit__graph.png" border="0" usemap="#mrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options_inherit__map" id="mrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options_inherit__map">
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for mrpt::hmtslam::CHMTSLAM::TOptions:</div>
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<div class="center"><img src="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options__coll__graph.png" border="0" usemap="#mrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options_coll__map" alt="Collaboration graph"/></div>
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<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options-members.html">List of all members.</a></p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td colspan="2"><h2>Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#af119d8ddf2ed2d517af5248018c73297">TOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialization of default params. <a href="#af119d8ddf2ed2d517af5248018c73297"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#aa895f87839938f8221699713ff71d10f">loadFromConfigFile</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &source, const std::string &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load parameters from configuration source. <a href="#aa895f87839938f8221699713ff71d10f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a622f6ce0292be81130d4128fbc10e8f5">dumpToTextStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method must display clearly all the contents of the structure in textual form, sending it to a CStream. <a href="#a622f6ce0292be81130d4128fbc10e8f5"></a><br/></td></tr>
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#af27802443bfdca84d8cfcb9369f4b07f">LOG_OUTPUT_DIR</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there. <a href="#af27802443bfdca84d8cfcb9369f4b07f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a3bbef55e7aca22d20d04f78db0912e2e">LOG_FREQUENCY</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated. <a href="#a3bbef55e7aca22d20d04f78db0912e2e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a2c9af03233c9c5161f118e7ce62660a9">LOG_SHOW3D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LOGGING] Display 3D view in real-time <a href="#a2c9af03233c9c5161f118e7ce62660a9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html#ae37ec467ad380c1a1cf84fea9fb246eb">TLSlamMethod</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a66c2182a267a09e5bb1b6186b3c27db5">SLAM_METHOD</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LSLAM] The method to use for local SLAM <a href="#a66c2182a267a09e5bb1b6186b3c27db5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#abd51ab6c346c24928073953c9047d653">SLAM_MIN_DIST_BETWEEN_OBS</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LSLAM] Minimum distance (and heading) difference between observations inserted in the map. <a href="#abd51ab6c346c24928073953c9047d653"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#af9731918c58f78de0e509f5686ae3077">SLAM_MIN_HEADING_BETWEEN_OBS</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#ad1c1d75c844a0b99dc5ef9f2587943c5">MIN_ODOMETRY_STD_XY</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0) <a href="#ad1c1d75c844a0b99dc5ef9f2587943c5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#ad335a3d3fc6a2dd6392be060426defa1">MIN_ODOMETRY_STD_PHI</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0) <a href="#ad335a3d3fc6a2dd6392be060426defa1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a22f644f38ae654bec3136e445a0b8835">VIEW3D_AREA_SPHERES_HEIGHT</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[VIEW3D] The height of the areas' spheres. <a href="#a22f644f38ae654bec3136e445a0b8835"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#aa534b29a034118484f95ab4791b170d7">VIEW3D_AREA_SPHERES_RADIUS</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[VIEW3D] The radius of the areas' spheres. <a href="#aa534b29a034118484f95ab4791b170d7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a8ed85205ccca0eb6ca52973da537355f">stds_Q_no_odo</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A 3-length vector with the std. <a href="#a8ed85205ccca0eb6ca52973da537355f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html">CIncrementalMapPartitioner::TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a3edf44a47ad442391804fb04acc563ad">AA_options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">[AA] The options for the partitioning algorithm <a href="#a3edf44a47ad442391804fb04acc563ad"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html">TSetOfMetricMapInitializers</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a14fff204bd3b5ec91c2ecff67f9f7a42">defaultMapsInitializers</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The default set of maps to be created in each particle. <a href="#a14fff204bd3b5ec91c2ecff67f9f7a42"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_1_1_t_options.html">CMultiMetricMap::TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a845f08553477e8959cdde272ea99ab68">defaultMapsOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The default options for the CMultiMetricMap in each particle. <a href="#a845f08553477e8959cdde272ea99ab68"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a951f8b5f603f505076ff12917717132c">pf_options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">These params are used from every LMH object. <a href="#a951f8b5f603f505076ff12917717132c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_t_k_l_d_params.html">TKLDParams</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#aac3c3a25d600cd099256bb565b46158f">KLD_params</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a2d36c18b249b629af24d63781b7a1936">random_seed</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">0 means randomize, use any other value to have repetitive experiments. <a href="#a2d36c18b249b629af24d63781b7a1936"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt.html#a4d04fc5241bf87fcaffec90f3b23b1ea">vector_string</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#ab5b31cc789677887c8a244c3e0c9f948">TLC_detectors</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching. <a href="#ab5b31cc789677887c8a244c3e0c9f948"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___grid_matching_1_1_t_options.html">CTopLCDetector_GridMatching::TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a1cf126443f2df5ce9ba962879b18d3d5">TLC_grid_options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Options passed to this TLC constructor. <a href="#a1cf126443f2df5ce9ba962879b18d3d5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html">CTopLCDetector_FabMap::TOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a1323fb2a953b15e0fc13439c52b8d3ab">TLC_fabmap_options</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Options passed to this TLC constructor. <a href="#a1323fb2a953b15e0fc13439c52b8d3ab"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>A variety of options and configuration params (private, use loadOptions). </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00417">417</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="af119d8ddf2ed2d517af5248018c73297"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::TOptions" ref="af119d8ddf2ed2d517af5248018c73297" args="()" -->
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<p>Initialization of default params. </p>
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<hr/><h2>Member Function Documentation</h2>
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<p>This method must display clearly all the contents of the structure in textual form, sending it to a CStream. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#adbe314b74deedfe953290ebf48750883">mrpt::utils::CLoadableOptions</a>.</p>
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<p>Load parameters from configuration source. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2">mrpt::utils::CLoadableOptions</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a3edf44a47ad442391804fb04acc563ad"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::AA_options" ref="a3edf44a47ad442391804fb04acc563ad" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html">CIncrementalMapPartitioner::TOptions</a> <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a3edf44a47ad442391804fb04acc563ad">mrpt::hmtslam::CHMTSLAM::TOptions::AA_options</a></td>
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<p>[AA] The options for the partitioning algorithm </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00466">466</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html">TSetOfMetricMapInitializers</a> <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a14fff204bd3b5ec91c2ecff67f9f7a42">mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers</a></td>
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<p>The default set of maps to be created in each particle. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00468">468</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_multi_metric_map_1_1_t_options.html">CMultiMetricMap::TOptions</a> <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a845f08553477e8959cdde272ea99ab68">mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsOptions</a></td>
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<p>The default options for the CMultiMetricMap in each particle. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00470">470</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00474">474</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<a class="anchor" id="a3bbef55e7aca22d20d04f78db0912e2e"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::LOG_FREQUENCY" ref="a3bbef55e7aca22d20d04f78db0912e2e" args="" -->
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<td class="memname">int <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a3bbef55e7aca22d20d04f78db0912e2e">mrpt::hmtslam::CHMTSLAM::TOptions::LOG_FREQUENCY</a></td>
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<p>[LOGGING] One SLAM iteration out of "LOGGING_logFrequency", a log file will be generated. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00435">435</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<a class="anchor" id="af27802443bfdca84d8cfcb9369f4b07f"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR" ref="af27802443bfdca84d8cfcb9369f4b07f" args="" -->
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<td class="memname">std::string <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#af27802443bfdca84d8cfcb9369f4b07f">mrpt::hmtslam::CHMTSLAM::TOptions::LOG_OUTPUT_DIR</a></td>
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<p>[LOGGING] If it is not an empty string (""), a directory with that name will be created and log files save there. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00434">434</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<a class="anchor" id="a2c9af03233c9c5161f118e7ce62660a9"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::LOG_SHOW3D" ref="a2c9af03233c9c5161f118e7ce62660a9" args="" -->
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<p>[LOGGING] Display 3D view in real-time </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00436">436</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<a class="anchor" id="ad335a3d3fc6a2dd6392be060426defa1"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_PHI" ref="ad335a3d3fc6a2dd6392be060426defa1" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#ad335a3d3fc6a2dd6392be060426defa1">mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_PHI</a></td>
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<p>[LSLAM] Minimum uncertainty (1 sigma, rads) in phi for odometry increments (Default=0) </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00450">450</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<td class="memname">float <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#ad1c1d75c844a0b99dc5ef9f2587943c5">mrpt::hmtslam::CHMTSLAM::TOptions::MIN_ODOMETRY_STD_XY</a></td>
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<p>[LSLAM] Minimum uncertainty (1 sigma, meters) in x and y for odometry increments (Default=0) </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00447">447</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<td class="memname"><a class="el" href="structmrpt_1_1bayes_1_1_c_particle_filter_1_1_t_particle_filter_options.html">bayes::CParticleFilter::TParticleFilterOptions</a> <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a951f8b5f603f505076ff12917717132c">mrpt::hmtslam::CHMTSLAM::TOptions::pf_options</a></td>
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<p>These params are used from every LMH object. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00472">472</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<a class="anchor" id="a2d36c18b249b629af24d63781b7a1936"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::random_seed" ref="a2d36c18b249b629af24d63781b7a1936" args="" -->
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<p>0 means randomize, use any other value to have repetitive experiments. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00476">476</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<p>[LSLAM] The method to use for local SLAM </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00440">440</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<p>[LSLAM] Minimum distance (and heading) difference between observations inserted in the map. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00444">444</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00444">444</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<a class="anchor" id="a8ed85205ccca0eb6ca52973da537355f"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::stds_Q_no_odo" ref="a8ed85205ccca0eb6ca52973da537355f" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1mrpt__base__vector.html">vector_float</a> <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a8ed85205ccca0eb6ca52973da537355f">mrpt::hmtslam::CHMTSLAM::TOptions::stds_Q_no_odo</a></td>
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<p>A 3-length vector with the std. </p>
<p>deviation of the transition model in (x,y,phi) used only when there is no odometry (if there is odo, its uncertainty values will be used instead); x y: In meters, phi: radians (but in degrees when loading from a configuration ini-file!) </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00462">462</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<a class="anchor" id="ab5b31cc789677887c8a244c3e0c9f948"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::TLC_detectors" ref="ab5b31cc789677887c8a244c3e0c9f948" args="" -->
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<td class="memname"><a class="el" href="namespacemrpt.html#a4d04fc5241bf87fcaffec90f3b23b1ea">vector_string</a> <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#ab5b31cc789677887c8a244c3e0c9f948">mrpt::hmtslam::CHMTSLAM::TOptions::TLC_detectors</a></td>
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<p>A list of topological loop-closure detectors to use: can be one or more from this list: 'gridmaps': Occupancy Grid matching. </p>
<p>'fabmap': Mark Cummins' image matching framework. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00482">482</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<td class="memname"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_top_l_c_detector___fab_map_1_1_t_options.html">CTopLCDetector_FabMap::TOptions</a> <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#a1323fb2a953b15e0fc13439c52b8d3ab">mrpt::hmtslam::CHMTSLAM::TOptions::TLC_fabmap_options</a></td>
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<p>Options passed to this TLC constructor. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00485">485</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<p>Options passed to this TLC constructor. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00484">484</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<p>[VIEW3D] The height of the areas' spheres. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00454">454</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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<p>[VIEW3D] The radius of the areas' spheres. </p>
<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00458">458</a> of file <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html">CHMTSLAM.h</a>.</p>
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