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<title>mrpt::slam::CIncrementalMapPartitioner::TOptions Struct Reference</title>
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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_incremental_map_partitioner.html">CIncrementalMapPartitioner</a> </li>
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<div class="title">mrpt::slam::CIncrementalMapPartitioner::TOptions Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CIncrementalMapPartitioner::TOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Configuration of the algorithm: </p>
</div>
<p><code>#include <<a class="el" href="_c_incremental_map_partitioner_8h_source.html">mrpt/slam/CIncrementalMapPartitioner.h</a>></code></p>
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Inheritance diagram for mrpt::slam::CIncrementalMapPartitioner::TOptions:</div>
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<div class="center"><img src="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options_inherit__map" id="mrpt_1_1slam_1_1_c_incremental_map_partitioner_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="65,5,260,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_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_incremental_map_partitioner_1_1_t_options.html#aa2d4b41aa79293a37c75c9f1c9bea11c">TOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets default values at object creation. <a href="#aa2d4b41aa79293a37c75c9f1c9bea11c"></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_incremental_map_partitioner_1_1_t_options.html#aeee6da8e49d60827a7ebe993cb923582">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="#aeee6da8e49d60827a7ebe993cb923582"></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_incremental_map_partitioner_1_1_t_options.html#a1f9bdca19fca912d3b6dd028f7398b02">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="#a1f9bdca19fca912d3b6dd028f7398b02"></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">float </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a0889a4f22765220a241b5047535f30f4">partitionThreshold</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The partition threshold for bisection in range [0,2], default=1.0. <a href="#a0889a4f22765220a241b5047535f30f4"></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_incremental_map_partitioner_1_1_t_options.html#a4477711f6bedc9244cef4fd55b6143ac">gridResolution</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For the occupancy grid maps of each node, default=0.10. <a href="#a4477711f6bedc9244cef4fd55b6143ac"></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_incremental_map_partitioner_1_1_t_options.html#ad4fa2a386e357e8b3a4a754124288846">minDistForCorrespondence</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in the computation of weights, default=0.20. <a href="#ad4fa2a386e357e8b3a4a754124288846"></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_incremental_map_partitioner_1_1_t_options.html#a631a6fa7913b194568f2ac1aa7401182">minMahaDistForCorrespondence</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Used in the computation of weights, default=2.0. <a href="#a631a6fa7913b194568f2ac1aa7401182"></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_incremental_map_partitioner_1_1_t_options.html#acc51a86cbf2a34728c96f0316f975697">forceBisectionOnly</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true (default), 1 or 2 clusters will be returned. <a href="#acc51a86cbf2a34728c96f0316f975697"></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_incremental_map_partitioner_1_1_t_options.html#a4b20e6989a7b9457a27259fdb74db951">useMapMatching</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs. <a href="#a4b20e6989a7b9457a27259fdb74db951"></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_incremental_map_partitioner_1_1_t_options.html#ae1735bdbe01ccbe1d1bfdb887cd04581">debugSaveAllEigenvectors</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES. <a href="#ae1735bdbe01ccbe1d1bfdb887cd04581"></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_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a263a704e467fc2b54427d8b4024e0e9a">minimumNumberElementsEachCluster</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1). <a href="#a263a704e467fc2b54427d8b4024e0e9a"></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>
</table>
<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="aa2d4b41aa79293a37c75c9f1c9bea11c"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::TOptions" ref="aa2d4b41aa79293a37c75c9f1c9bea11c" args="()" -->
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<td class="memname">mrpt::slam::CIncrementalMapPartitioner::TOptions::TOptions </td>
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<p>Sets default values at object creation. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::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="a1f9bdca19fca912d3b6dd028f7398b02"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::dumpToTextStream" ref="a1f9bdca19fca912d3b6dd028f7398b02" args="(CStream &out) const " -->
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::TOptions::dumpToTextStream </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::slam::CIncrementalMapPartitioner::TOptions::dumpVar_bool" ref="a63837b199914f55d8f0bd950f598fe14" args="(CStream &out, const char *varName, bool v)" -->
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<a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::dumpVar_double" ref="ac4ee21d250d3b3574790ceac343a27a9" args="(CStream &out, const char *varName, double v)" -->
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<td>)</td>
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<a class="anchor" id="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::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>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::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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<p>Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. </p>
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_string </td>
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<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
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<a class="anchor" id="aeee6da8e49d60827a7ebe993cb923582"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::loadFromConfigFile" ref="aeee6da8e49d60827a7ebe993cb923582" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::slam::CIncrementalMapPartitioner::TOptions::loadFromConfigFile </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::slam::CIncrementalMapPartitioner::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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<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::slam::CIncrementalMapPartitioner::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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<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::slam::CIncrementalMapPartitioner::TOptions::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" -->
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<td class="memname">void mrpt::utils::CLoadableOptions::saveToConfigFileName </td>
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<td>)</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="ae1735bdbe01ccbe1d1bfdb887cd04581"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::debugSaveAllEigenvectors" ref="ae1735bdbe01ccbe1d1bfdb887cd04581" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#ae1735bdbe01ccbe1d1bfdb887cd04581">mrpt::slam::CIncrementalMapPartitioner::TOptions::debugSaveAllEigenvectors</a></td>
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<p>This variable will be mapped to utils::CGraphPartitioner::DEBUG_SAVE_EIGENVECTOR_FILES. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00117">117</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="acc51a86cbf2a34728c96f0316f975697"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly" ref="acc51a86cbf2a34728c96f0316f975697" args="" -->
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<td class="memname">bool <a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#acc51a86cbf2a34728c96f0316f975697">mrpt::slam::CIncrementalMapPartitioner::TOptions::forceBisectionOnly</a></td>
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<p>If set to true (default), 1 or 2 clusters will be returned. </p>
<p>Default=false -> Autodetermine the number of partitions. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00109">109</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="a4477711f6bedc9244cef4fd55b6143ac"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::gridResolution" ref="a4477711f6bedc9244cef4fd55b6143ac" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a4477711f6bedc9244cef4fd55b6143ac">mrpt::slam::CIncrementalMapPartitioner::TOptions::gridResolution</a></td>
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<p>For the occupancy grid maps of each node, default=0.10. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00097">97</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="ad4fa2a386e357e8b3a4a754124288846"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::minDistForCorrespondence" ref="ad4fa2a386e357e8b3a4a754124288846" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#ad4fa2a386e357e8b3a4a754124288846">mrpt::slam::CIncrementalMapPartitioner::TOptions::minDistForCorrespondence</a></td>
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<p>Used in the computation of weights, default=0.20. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00101">101</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="a263a704e467fc2b54427d8b4024e0e9a"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::minimumNumberElementsEachCluster" ref="a263a704e467fc2b54427d8b4024e0e9a" args="" -->
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<td class="memname">int <a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a263a704e467fc2b54427d8b4024e0e9a">mrpt::slam::CIncrementalMapPartitioner::TOptions::minimumNumberElementsEachCluster</a></td>
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<p>If a partition leads to a cluster with less elements than this, it will be rejected even if had a good Ncut (default=1). </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00120">120</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="a631a6fa7913b194568f2ac1aa7401182"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::minMahaDistForCorrespondence" ref="a631a6fa7913b194568f2ac1aa7401182" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a631a6fa7913b194568f2ac1aa7401182">mrpt::slam::CIncrementalMapPartitioner::TOptions::minMahaDistForCorrespondence</a></td>
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<p>Used in the computation of weights, default=2.0. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00105">105</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="a0889a4f22765220a241b5047535f30f4"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold" ref="a0889a4f22765220a241b5047535f30f4" args="" -->
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<td class="memname">float <a class="el" href="structmrpt_1_1slam_1_1_c_incremental_map_partitioner_1_1_t_options.html#a0889a4f22765220a241b5047535f30f4">mrpt::slam::CIncrementalMapPartitioner::TOptions::partitionThreshold</a></td>
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<p>The partition threshold for bisection in range [0,2], default=1.0. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00093">93</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.h</a>.</p>
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<a class="anchor" id="a4b20e6989a7b9457a27259fdb74db951"></a><!-- doxytag: member="mrpt::slam::CIncrementalMapPartitioner::TOptions::useMapMatching" ref="a4b20e6989a7b9457a27259fdb74db951" args="" -->
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<p>If set to true (default), adjacency matrix is computed from maps matching; otherwise, the method CObservation::likelihoodWith will be called directly from the SFs. </p>
<p>Definition at line <a class="el" href="_c_incremental_map_partitioner_8h_source.html#l00113">113</a> of file <a class="el" href="_c_incremental_map_partitioner_8h_source.html">CIncrementalMapPartitioner.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>
