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<title>mrpt::hmtslam::CHMTSLAM::TOptions Struct Reference</title>
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<li class="navelem"><a class="el" href="classmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m.html">CHMTSLAM</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html">TOptions</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::hmtslam::CHMTSLAM::TOptions Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::hmtslam::CHMTSLAM::TOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A variety of options and configuration params (private, use loadOptions). </p>
</div>
<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>
<div class="dyncontent">
<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">
<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 to configuratio..." alt="" coords="33,5,228,32"/></map>
<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 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_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 <a class="el" href="classstd_1_1string.html">std::string</a> &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 class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a1ce8e0f241fe85f78095e23d37b2b635">loadFromConfigFileName</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &config_file, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to load the file. <a href="#a1ce8e0f241fe85f78095e23d37b2b635"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a913c3433af4564cedeb25e24ace1cf28">saveToConfigFile</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> &source, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method saves the options to a ".ini"-like file or memory-stored string list. <a href="#a913c3433af4564cedeb25e24ace1cf28"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#aa059b0160ed9881c284bcea9a42c51f8">saveToConfigFileName</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &config_file, const <a class="el" href="classstd_1_1string.html">std::string</a> &section)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Behaves like saveToConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to save the file. <a href="#aa059b0160ed9881c284bcea9a42c51f8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a37c6d8d52b1d9bdacaf073e6910bdd7f">dumpToConsole</a> () 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 <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. <a href="#a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><br/></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"><a class="el" href="classstd_1_1string.html">std::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#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"><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="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">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>
<tr><td colspan="2"><h2><a name="pro-static-methods"></a>
Static Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a886e9903515fdb12d4f052a7fd582bb6">dumpVar_int</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, int v)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. <a href="#a886e9903515fdb12d4f052a7fd582bb6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a18862f2d04fc18dd2c2662331156189f">dumpVar_float</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, float v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ac4ee21d250d3b3574790ceac343a27a9">dumpVar_double</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, double v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a63837b199914f55d8f0bd950f598fe14">dumpVar_bool</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, bool v)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a60b1c6599953f1d593e6a7b0421e5a77">dumpVar_string</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> &out, const char *varName, const <a class="el" href="classstd_1_1string.html">std::string</a> &v)</td></tr>
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<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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<td class="memname">mrpt::hmtslam::CHMTSLAM::TOptions::TOptions </td>
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<p>Initialization of default params. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::dumpToConsole" ref="a37c6d8d52b1d9bdacaf073e6910bdd7f" args="() const " -->
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<td class="memname">void mrpt::utils::CLoadableOptions::dumpToConsole </td>
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<td> const<code> [inherited]</code></td>
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<p>This method must display clearly all the contents of the structure in textual form, sending it to a <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a>. </p>
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<a class="anchor" id="a622f6ce0292be81130d4128fbc10e8f5"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::dumpToTextStream" ref="a622f6ce0292be81130d4128fbc10e8f5" args="(CStream &out) const " -->
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<td class="memname">void mrpt::hmtslam::CHMTSLAM::TOptions::dumpToTextStream </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em></td><td>)</td>
<td> const<code> [virtual]</code></td>
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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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<a class="anchor" id="a63837b199914f55d8f0bd950f598fe14"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::dumpVar_bool" ref="a63837b199914f55d8f0bd950f598fe14" args="(CStream &out, const char *varName, bool v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_bool </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td class="paramtype">const char * </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::dumpVar_double" ref="ac4ee21d250d3b3574790ceac343a27a9" args="(CStream &out, const char *varName, double v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_double </td>
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<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::dumpVar_float" ref="a18862f2d04fc18dd2c2662331156189f" args="(CStream &out, const char *varName, float v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_float </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
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<td class="paramtype">float </td>
<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::dumpVar_int" ref="a886e9903515fdb12d4f052a7fd582bb6" args="(CStream &out, const char *varName, int v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_int </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<p>Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. </p>
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<a class="anchor" id="a60b1c6599953f1d593e6a7b0421e5a77"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::dumpVar_string" ref="a60b1c6599953f1d593e6a7b0421e5a77" args="(CStream &out, const char *varName, const std::string &v)" -->
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<td class="paramtype">const char * </td>
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>v</em> </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="aa895f87839938f8221699713ff71d10f"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile" ref="aa895f87839938f8221699713ff71d10f" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFile </td>
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<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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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
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<td></td><td><code> [virtual]</code></td>
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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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<a class="anchor" id="a1ce8e0f241fe85f78095e23d37b2b635"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::loadFromConfigFileName" ref="a1ce8e0f241fe85f78095e23d37b2b635" args="(const std::string &config_file, const std::string &section)" -->
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<td class="memname">void mrpt::utils::CLoadableOptions::loadFromConfigFileName </td>
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<td></td><td><code> [inherited]</code></td>
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<p>Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to load the file. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2" title="This method load the options from a ".ini"-like file or memory-stored string list.">loadFromConfigFile</a> </dd></dl>
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<a class="anchor" id="a913c3433af4564cedeb25e24ace1cf28"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::saveToConfigFile" ref="a913c3433af4564cedeb25e24ace1cf28" args="(mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">virtual void mrpt::utils::CLoadableOptions::saveToConfigFile </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
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<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
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<p>This method saves the options to a ".ini"-like file or memory-stored string list. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2" title="This method load the options from a ".ini"-like file or memory-stored string list.">loadFromConfigFile</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#aa059b0160ed9881c284bcea9a42c51f8" title="Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile obje...">saveToConfigFileName</a> </dd></dl>
<p>Reimplemented in <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html#ab41c594d4e248ace4a2b6c7e4d082a1c">mrpt::vision::TMultiResDescOptions</a>, and <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html#a0ddc0e48338f1c420ed1e9a34d106865">mrpt::vision::TMultiResDescMatchOptions</a>.</p>
<p>Definition at line <a class="el" href="_c_loadable_options_8h_source.html#l00087">87</a> of file <a class="el" href="_c_loadable_options_8h_source.html">CLoadableOptions.h</a>.</p>
<p>References <a class="el" href="mrpt__macros_8h_source.html#l00131">THROW_EXCEPTION</a>.</p>
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<a class="anchor" id="aa059b0160ed9881c284bcea9a42c51f8"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" -->
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<td>(</td>
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<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>section</em> </td>
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<td>)</td>
<td></td><td><code> [inherited]</code></td>
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<p>Behaves like saveToConfigFile, but you can pass directly a file name and a temporary <a class="el" href="classmrpt_1_1utils_1_1_c_config_file.html" title="This class allows loading and storing values and vectors of different types from ".ini" files easily.">CConfigFile</a> object will be created automatically to save the file. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a913c3433af4564cedeb25e24ace1cf28" title="This method saves the options to a ".ini"-like file or memory-stored string list.">saveToConfigFile</a>, <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#a1ce8e0f241fe85f78095e23d37b2b635" title="Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile ob...">loadFromConfigFileName</a> </dd></dl>
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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#l00478">478</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="a14fff204bd3b5ec91c2ecff67f9f7a42"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsInitializers" ref="a14fff204bd3b5ec91c2ecff67f9f7a42" args="" -->
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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#l00480">480</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="a845f08553477e8959cdde272ea99ab68"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::defaultMapsOptions" ref="a845f08553477e8959cdde272ea99ab68" args="" -->
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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#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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<a class="anchor" id="aac3c3a25d600cd099256bb565b46158f"></a><!-- doxytag: member="mrpt::hmtslam::CHMTSLAM::TOptions::KLD_params" ref="aac3c3a25d600cd099256bb565b46158f" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_t_k_l_d_params.html">TKLDParams</a> <a class="el" href="structmrpt_1_1hmtslam_1_1_c_h_m_t_s_l_a_m_1_1_t_options.html#aac3c3a25d600cd099256bb565b46158f">mrpt::hmtslam::CHMTSLAM::TOptions::KLD_params</a></td>
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<p>Definition at line <a class="el" href="_c_h_m_t_s_l_a_m_8h_source.html#l00486">486</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>[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#l00448">448</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="classstd_1_1string.html">std::string</a> <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#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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<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#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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<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#l00459">459</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#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>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#l00488">488</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#l00452">452</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#l00456">456</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#l00456">456</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="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">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#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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<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#l00494">494</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#l00497">497</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#l00496">496</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#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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<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#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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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
