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<div class="navpath"><a class="el" href="namespacemrpt.html">mrpt</a>::<a class="el" href="namespacemrpt_1_1slam.html">slam</a>::<a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html">CPointsMap</a>::<a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html">TInsertionOptions</a>
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<h1>mrpt::slam::CPointsMap::TInsertionOptions Struct Reference</h1><!-- doxytag: class="mrpt::slam::CPointsMap::TInsertionOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" -->
<p>With this struct options are provided to the observation insertion process.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="_c_points_map_8h_source.html">mrpt/slam/CPointsMap.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CPointsMap::TInsertionOptions:</div>
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<div class="center"><img src="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options_inherit__map" id="mrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options_inherit__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved..." alt="" coords="45,5,240,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
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Collaboration diagram for mrpt::slam::CPointsMap::TInsertionOptions:</div>
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<div class="center"><img src="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options__coll__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options_coll__map" alt="Collaboration graph"/></div>
<map name="mrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options_coll__map" id="mrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options_coll__map">
<area shape="rect" id="node2" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved..." alt="" coords="45,5,240,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_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_1slam_1_1_c_points_map_1_1_t_insertion_options.html#a951ba71fae6178a38fa004756a043030">TInsertionOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initilization of default parameters. <a href="#a951ba71fae6178a38fa004756a043030"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html#a7737fc674b62ad0d92fd6d773b44b1fa">~TInsertionOptions</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html#a88c4234acb0038e18a950f60a684bb6d">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">See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved...">utils::CLoadableOptions</a>. <a href="#a88c4234acb0038e18a950f60a684bb6d"></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_1slam_1_1_c_points_map_1_1_t_insertion_options.html#a36f00645654e5b50ff902da9b5a3bad9">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">See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved...">utils::CLoadableOptions</a>. <a href="#a36f00645654e5b50ff902da9b5a3bad9"></a><br/></td></tr>
<tr><td colspan="2"><h2>Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html#a000a3abe7e6f2913a06152861fa2187d">minDistBetweenLaserPoints</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. <a href="#a000a3abe7e6f2913a06152861fa2187d"></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_1slam_1_1_c_points_map_1_1_t_insertion_options.html#add327bb248876dd3e04c68ba3ce9b536">addToExistingPointsMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. <a href="#add327bb248876dd3e04c68ba3ce9b536"></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_1slam_1_1_c_points_map_1_1_t_insertion_options.html#a1d68e811a16965f4dbe025882c7ed9ab">also_interpolate</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false). <a href="#a1d68e811a16965f4dbe025882c7ed9ab"></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_1slam_1_1_c_points_map_1_1_t_insertion_options.html#aa032c43dc5ca9f32d577e0e2805739c6">disableDeletion</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. <a href="#aa032c43dc5ca9f32d577e0e2805739c6"></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_1slam_1_1_c_points_map_1_1_t_insertion_options.html#a69db253ac9a0d83917bbd1bd6412840c">fuseWithExisting</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true (default=false), inserted points are "fused" with previously existent ones. <a href="#a69db253ac9a0d83917bbd1bd6412840c"></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_1slam_1_1_c_points_map_1_1_t_insertion_options.html#a4920a0aae2ad279c4cb13a3d45a1fe18">isPlanarMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated). <a href="#a4920a0aae2ad279c4cb13a3d45a1fe18"></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_1slam_1_1_c_points_map_1_1_t_insertion_options.html#ac18819a87d2f88665183cd7c9830fa9e">horizontalTolerance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0). <a href="#ac18819a87d2f88665183cd7c9830fa9e"></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_1slam_1_1_c_points_map_1_1_t_insertion_options.html#ad367c8f31c4a0f080240f0b3a4ea280e">maxDistForInterpolatePoints</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true). <a href="#ad367c8f31c4a0f080240f0b3a4ea280e"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>With this struct options are provided to the observation insertion process. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>CObservation::insertIntoPointsMap </dd></dl>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00406">406</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a951ba71fae6178a38fa004756a043030"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::TInsertionOptions" ref="a951ba71fae6178a38fa004756a043030" args="()" -->
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<td class="memname">mrpt::slam::CPointsMap::TInsertionOptions::TInsertionOptions </td>
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<p>Initilization of default parameters. </p>
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<a class="anchor" id="a7737fc674b62ad0d92fd6d773b44b1fa"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::~TInsertionOptions" ref="a7737fc674b62ad0d92fd6d773b44b1fa" args="()" -->
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<td class="memname">virtual mrpt::slam::CPointsMap::TInsertionOptions::~TInsertionOptions </td>
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<td><code> [inline, virtual]</code></td>
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<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00411">411</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a36f00645654e5b50ff902da9b5a3bad9"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::dumpToTextStream" ref="a36f00645654e5b50ff902da9b5a3bad9" args="(CStream &out) const " -->
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<td class="memname">void mrpt::slam::CPointsMap::TInsertionOptions::dumpToTextStream </td>
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<td> const<code> [virtual]</code></td>
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<p>See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved...">utils::CLoadableOptions</a>. </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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<a class="anchor" id="a88c4234acb0038e18a950f60a684bb6d"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::loadFromConfigFile" ref="a88c4234acb0038e18a950f60a684bb6d" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::slam::CPointsMap::TInsertionOptions::loadFromConfigFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
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<p>See <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved...">utils::CLoadableOptions</a>. </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="add327bb248876dd3e04c68ba3ce9b536"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::addToExistingPointsMap" ref="add327bb248876dd3e04c68ba3ce9b536" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html#add327bb248876dd3e04c68ba3ce9b536">mrpt::slam::CPointsMap::TInsertionOptions::addToExistingPointsMap</a></td>
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<p>Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. </p>
<p>Default is false. </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00430">430</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
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<a class="anchor" id="a1d68e811a16965f4dbe025882c7ed9ab"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::also_interpolate" ref="a1d68e811a16965f4dbe025882c7ed9ab" args="" -->
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<p>If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false). </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00434">434</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
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<a class="anchor" id="aa032c43dc5ca9f32d577e0e2805739c6"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::disableDeletion" ref="aa032c43dc5ca9f32d577e0e2805739c6" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html#aa032c43dc5ca9f32d577e0e2805739c6">mrpt::slam::CPointsMap::TInsertionOptions::disableDeletion</a></td>
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<p>If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. </p>
<p>they don't exist yet. </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00438">438</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
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<a class="anchor" id="a69db253ac9a0d83917bbd1bd6412840c"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::fuseWithExisting" ref="a69db253ac9a0d83917bbd1bd6412840c" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html#a69db253ac9a0d83917bbd1bd6412840c">mrpt::slam::CPointsMap::TInsertionOptions::fuseWithExisting</a></td>
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<p>If set to true (default=false), inserted points are "fused" with previously existent ones. </p>
<p>This shrink the size of the points map, but its slower. </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00442">442</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
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<a class="anchor" id="ac18819a87d2f88665183cd7c9830fa9e"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::horizontalTolerance" ref="ac18819a87d2f88665183cd7c9830fa9e" args="" -->
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<p>The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0). </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00451">451</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
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<p>If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html#ac18819a87d2f88665183cd7c9830fa9e" title="The tolerance in rads in pitch & roll for a laser scan to be considered horizontal...">horizontalTolerance</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00447">447</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html#ad367c8f31c4a0f080240f0b3a4ea280e">mrpt::slam::CPointsMap::TInsertionOptions::maxDistForInterpolatePoints</a></td>
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<p>The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true). </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00455">455</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
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<a class="anchor" id="a000a3abe7e6f2913a06152861fa2187d"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints" ref="a000a3abe7e6f2913a06152861fa2187d" args="" -->
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<p>The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. </p>
<p>Default is 0.02 meters. </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00426">426</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
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