<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"> <html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"> <title>mrpt::slam::CConsistentObservationAlignment::TOptions Struct Reference</title> <link href="doxygen.css" rel="stylesheet" type="text/css"> <link href="tabs.css" rel="stylesheet" type="text/css"> </head><body> <div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div> <div align="right"> <a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a> </div> <!-- Generated by Doxygen 1.7.5 --> <script type="text/javascript"> var searchBox = new SearchBox("searchBox", "search",false,'Search'); </script> <div id="navrow1" class="tabs"> <ul class="tablist"> <li><a href="index.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="modules.html"><span>Modules</span></a></li> <li><a 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class="el" href="namespacemrpt.html">mrpt</a> </li> <li class="navelem"><a class="el" href="namespacemrpt_1_1slam.html">slam</a> </li> <li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_consistent_observation_alignment.html">CConsistentObservationAlignment</a> </li> <li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html">TOptions</a> </li> </ul> </div> </div> <div class="header"> <div class="summary"> <a href="#pub-methods">Public Member Functions</a> | <a href="#pub-attribs">Public Attributes</a> </div> <div class="headertitle"> <div class="title">mrpt::slam::CConsistentObservationAlignment::TOptions Struct Reference</div> </div> </div> <div class="contents"> <!-- doxytag: class="mrpt::slam::CConsistentObservationAlignment::TOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2> <div class="textblock"><p>The options for the method. </p> </div> <p><code>#include <<a class="el" href="_c_consistent_observation_alignment_8h_source.html">mrpt/slam/CConsistentObservationAlignment.h</a>></code></p> <p><a href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_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_consistent_observation_alignment_1_1_t_options.html#a67e9afec90f6ccf45c8e6cf3978038d8">TOptions</a> ()</td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">Initialization: <a href="#a67e9afec90f6ccf45c8e6cf3978038d8"></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">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#abf6e4ea1c8e9a2aed37202e655e24857">matchAgainstGridmap</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true (default), the matching will be performed against grid maps, instead of points maps: <a href="#abf6e4ea1c8e9a2aed37202e655e24857"></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_consistent_observation_alignment_1_1_t_options.html#aaa4617da7519a68280f76b90f74380b1">gridMapsResolution</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The resolution of the grid maps (default = 0.02m) <a href="#aaa4617da7519a68280f76b90f74380b1"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html">CPointsMap::TInsertionOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a350aadd73ac87c5ce413c363729846bf">pointsMapOptions</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The options for building temporary maps. <a href="#a350aadd73ac87c5ce413c363729846bf"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html">COccupancyGridMap2D::TInsertionOptions</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a8eed0c166ec051952998b50d8c90901d">gridInsertOptions</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The options for building temporary maps. <a href="#a8eed0c166ec051952998b50d8c90901d"></a><br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html">CICP::TConfigParams</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a37b07499a4323c6526756972552e82ed">icpOptions</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The options for the ICP algorithm. <a href="#a37b07499a4323c6526756972552e82ed"></a><br/></td></tr> </table> <hr/><h2>Constructor & Destructor Documentation</h2> <a class="anchor" id="a67e9afec90f6ccf45c8e6cf3978038d8"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::TOptions::TOptions" ref="a67e9afec90f6ccf45c8e6cf3978038d8" args="()" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">mrpt::slam::CConsistentObservationAlignment::TOptions::TOptions </td> <td>(</td> <td class="paramname"></td><td>)</td> <td></td> </tr> </table> </div> <div class="memdoc"> <p>Initialization: </p> </div> </div> <hr/><h2>Member Data Documentation</h2> <a class="anchor" id="a8eed0c166ec051952998b50d8c90901d"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::TOptions::gridInsertOptions" ref="a8eed0c166ec051952998b50d8c90901d" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html">COccupancyGridMap2D::TInsertionOptions</a> <a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a8eed0c166ec051952998b50d8c90901d">mrpt::slam::CConsistentObservationAlignment::TOptions::gridInsertOptions</a></td> </tr> </table> </div> <div class="memdoc"> <p>The options for building temporary maps. </p> <p>Definition at line <a class="el" href="_c_consistent_observation_alignment_8h_source.html#l00104">104</a> of file <a class="el" href="_c_consistent_observation_alignment_8h_source.html">CConsistentObservationAlignment.h</a>.</p> </div> </div> <a class="anchor" id="aaa4617da7519a68280f76b90f74380b1"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::TOptions::gridMapsResolution" ref="aaa4617da7519a68280f76b90f74380b1" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#aaa4617da7519a68280f76b90f74380b1">mrpt::slam::CConsistentObservationAlignment::TOptions::gridMapsResolution</a></td> </tr> </table> </div> <div class="memdoc"> <p>The resolution of the grid maps (default = 0.02m) </p> <p>Definition at line <a class="el" href="_c_consistent_observation_alignment_8h_source.html#l00096">96</a> of file <a class="el" href="_c_consistent_observation_alignment_8h_source.html">CConsistentObservationAlignment.h</a>.</p> </div> </div> <a class="anchor" id="a37b07499a4323c6526756972552e82ed"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::TOptions::icpOptions" ref="a37b07499a4323c6526756972552e82ed" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname"><a class="el" href="classmrpt_1_1slam_1_1_c_i_c_p_1_1_t_config_params.html">CICP::TConfigParams</a> <a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a37b07499a4323c6526756972552e82ed">mrpt::slam::CConsistentObservationAlignment::TOptions::icpOptions</a></td> </tr> </table> </div> <div class="memdoc"> <p>The options for the ICP algorithm. </p> <p>Definition at line <a class="el" href="_c_consistent_observation_alignment_8h_source.html#l00108">108</a> of file <a class="el" href="_c_consistent_observation_alignment_8h_source.html">CConsistentObservationAlignment.h</a>.</p> </div> </div> <a class="anchor" id="abf6e4ea1c8e9a2aed37202e655e24857"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::TOptions::matchAgainstGridmap" ref="abf6e4ea1c8e9a2aed37202e655e24857" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#abf6e4ea1c8e9a2aed37202e655e24857">mrpt::slam::CConsistentObservationAlignment::TOptions::matchAgainstGridmap</a></td> </tr> </table> </div> <div class="memdoc"> <p>If set to true (default), the matching will be performed against grid maps, instead of points maps: </p> <p>Definition at line <a class="el" href="_c_consistent_observation_alignment_8h_source.html#l00092">92</a> of file <a class="el" href="_c_consistent_observation_alignment_8h_source.html">CConsistentObservationAlignment.h</a>.</p> </div> </div> <a class="anchor" id="a350aadd73ac87c5ce413c363729846bf"></a><!-- doxytag: member="mrpt::slam::CConsistentObservationAlignment::TOptions::pointsMapOptions" ref="a350aadd73ac87c5ce413c363729846bf" args="" --> <div class="memitem"> <div class="memproto"> <table class="memname"> <tr> <td class="memname"><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html">CPointsMap::TInsertionOptions</a> <a class="el" href="structmrpt_1_1slam_1_1_c_consistent_observation_alignment_1_1_t_options.html#a350aadd73ac87c5ce413c363729846bf">mrpt::slam::CConsistentObservationAlignment::TOptions::pointsMapOptions</a></td> </tr> </table> </div> <div class="memdoc"> <p>The options for building temporary maps. </p> <p>Definition at line <a class="el" href="_c_consistent_observation_alignment_8h_source.html#l00100">100</a> of file <a class="el" href="_c_consistent_observation_alignment_8h_source.html">CConsistentObservationAlignment.h</a>.</p> </div> </div> </div> <br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a 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