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<li><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html">TOptions</a> </li>
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<h1>mrpt::slam::CMetricMapBuilder::TOptions Struct Reference</h1> </div>
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<!-- doxytag: class="mrpt::slam::CMetricMapBuilder::TOptions" --><hr/><a name="_details"></a><h2>Detailed Description</h2>
<p>Options for the algorithm. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00136">136</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
<p><code>#include <<a class="el" href="_c_metric_map_builder_8h_source.html">mrpt/slam/CMetricMapBuilder.h</a>></code></p>
<p><a href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
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_metric_map_builder_1_1_t_options.html#a91fc86a65cc675fc1101af511d44b8b0">TOptions</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></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_metric_map_builder_1_1_t_options.html#a453371ba7c8bfc6989c3fea9ac4b2c1d">verbose</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If true shows debug information in the console, default is true. <a href="#a453371ba7c8bfc6989c3fea9ac4b2c1d"></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_metric_map_builder_1_1_t_options.html#ad0e8d5bf974e0c80f26565d462926497">enableMapUpdating</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enable map updating, default is true. <a href="#ad0e8d5bf974e0c80f26565d462926497"></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_metric_map_builder_1_1_t_options.html#ad6b66d26fa3c94826505064a28b3fb1c">debugForceInsertion</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Always insert into map. <a href="#ad6b66d26fa3c94826505064a28b3fb1c"></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_metric_map_builder_1_1_t_options.html#a9486614b56fc96cfd4b6d4207fad3db4">insertImagesAlways</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">*DEPRECATED (Use "alwaysInserByClass") * Always include a SF into the map if an image is included. <a href="#a9486614b56fc96cfd4b6d4207fad3db4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_list_of_classes.html">mrpt::utils::CListOfClasses</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#a9f88daece48938d630075a69473fb43c">alwaysInsertByClass</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of observation classes (derived from <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">mrpt::slam::CObservation</a>) which will be always inserted in the map, disregarding the minimum insertion distances). <a href="#a9f88daece48938d630075a69473fb43c"></a><br/></td></tr>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a91fc86a65cc675fc1101af511d44b8b0"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::TOptions::TOptions" ref="a91fc86a65cc675fc1101af511d44b8b0" args="()" -->
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<td class="memname">mrpt::slam::CMetricMapBuilder::TOptions::TOptions </td>
<td>(</td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00138">138</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a9f88daece48938d630075a69473fb43c"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::TOptions::alwaysInsertByClass" ref="a9f88daece48938d630075a69473fb43c" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_list_of_classes.html">mrpt::utils::CListOfClasses</a> <a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_1_1_t_options.html#a9f88daece48938d630075a69473fb43c">mrpt::slam::CMetricMapBuilder::TOptions::alwaysInsertByClass</a></td>
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<p>A list of observation classes (derived from <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">mrpt::slam::CObservation</a>) which will be always inserted in the map, disregarding the minimum insertion distances). </p>
<p>Default: Empty. How to insert classes: </p>
<div class="fragment"><pre class="fragment"> alwaysInserByClass.insert(<a class="code" href="_c_object_8h.html#ae1e916f2fdc79ed0da6508acdb1848a0" title="Access to runtime class ID for a defined class name.">CLASS_ID</a>(CObservationImage));
</pre></div> <dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_list_of_classes.html" title="A list (actually based on a std::set) of MRPT classes, capable of keeping any class registered by the...">mrpt::utils::CListOfClasses</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00169">169</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
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<a class="anchor" id="ad6b66d26fa3c94826505064a28b3fb1c"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::TOptions::debugForceInsertion" ref="ad6b66d26fa3c94826505064a28b3fb1c" args="" -->
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<p>Always insert into map. </p>
<p>Default is false: detect if necesary. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00156">156</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
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<a class="anchor" id="ad0e8d5bf974e0c80f26565d462926497"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::TOptions::enableMapUpdating" ref="ad0e8d5bf974e0c80f26565d462926497" args="" -->
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<p>Enable map updating, default is true. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00152">152</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
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<a class="anchor" id="a9486614b56fc96cfd4b6d4207fad3db4"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::TOptions::insertImagesAlways" ref="a9486614b56fc96cfd4b6d4207fad3db4" args="" -->
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<p>*DEPRECATED (Use "alwaysInserByClass") * Always include a SF into the map if an image is included. </p>
<p>Default is false. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00160">160</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
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<a class="anchor" id="a453371ba7c8bfc6989c3fea9ac4b2c1d"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilder::TOptions::verbose" ref="a453371ba7c8bfc6989c3fea9ac4b2c1d" args="" -->
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<p>If true shows debug information in the console, default is true. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_8h_source.html#l00148">148</a> of file <a class="el" href="_c_metric_map_builder_8h_source.html">CMetricMapBuilder.h</a>.</p>
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