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<title>mrpt::slam::CMetricMapBuilderICP::TConfigParams Struct Reference</title>
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<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html">TConfigParams</a> </li>
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<div class="title">mrpt::slam::CMetricMapBuilderICP::TConfigParams Struct Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::CMetricMapBuilderICP::TConfigParams" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Algorithm configuration params. </p>
</div>
<p><code>#include <<a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">mrpt/slam/CMetricMapBuilderICP.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CMetricMapBuilderICP::TConfigParams:</div>
<div class="dyncontent">
<div class="center"><img src="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params_inherit__map" id="mrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params_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="71,5,265,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params-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_i_c_p_1_1_t_config_params.html#a294143364c19cc2eb2465fa7944875ba">TConfigParams</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initializer. <a href="#a294143364c19cc2eb2465fa7944875ba"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a7b1b78257b43c7fd52290c11cc7b892e">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">This method load the options from a ".ini"-like file or memory-stored string list. <a href="#a7b1b78257b43c7fd52290c11cc7b892e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a9bd9a00727ceb834a03990c3da1b21f4">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="#a9bd9a00727ceb834a03990c3da1b21f4"></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">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a77faede8063e53097691ad8548b573d8">matchAgainstTheGrid</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">(default:false) Match against the occupancy grid or the points map? The former is quicker but less precise. <a href="#a77faede8063e53097691ad8548b573d8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a3757282f5b7142e0e21be4b94e3f8c38">insertionLinDistance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Minimum robot linear (m) displacement for a new observation to be inserted in the map. <a href="#a3757282f5b7142e0e21be4b94e3f8c38"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a6484ff62d03978a69175b83c091c1dbb">insertionAngDistance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map. <a href="#a6484ff62d03978a69175b83c091c1dbb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a3d4edd405000b8399f94f130ba55db02">localizationLinDistance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry). <a href="#a3d4edd405000b8399f94f130ba55db02"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a694d6af3a9bab2898cd8e7c5653e641f">localizationAngDistance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry). <a href="#a694d6af3a9bab2898cd8e7c5653e641f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a1e37e7ae01b1aed7be2e9c7815f8697b">minICPgoodnessToAccept</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40) <a href="#a1e37e7ae01b1aed7be2e9c7815f8697b"></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_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a1e858d31f52331e1e85de46938feecf4">mapInitializers</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">What maps to create (at least one points map and/or a grid map are needed). <a href="#a1e858d31f52331e1e85de46938feecf4"></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="a294143364c19cc2eb2465fa7944875ba"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::TConfigParams::TConfigParams" ref="a294143364c19cc2eb2465fa7944875ba" args="()" -->
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<td class="memname">mrpt::slam::CMetricMapBuilderICP::TConfigParams::TConfigParams </td>
<td>(</td>
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<p>Initializer. </p>
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</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::TConfigParams::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="a9bd9a00727ceb834a03990c3da1b21f4"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream" ref="a9bd9a00727ceb834a03990c3da1b21f4" args="(CStream &out) const " -->
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<td class="memname">virtual void mrpt::slam::CMetricMapBuilderICP::TConfigParams::dumpToTextStream </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </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::CMetricMapBuilderICP::TConfigParams::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::CMetricMapBuilderICP::TConfigParams::dumpVar_double" ref="ac4ee21d250d3b3574790ceac343a27a9" args="(CStream &out, const char *varName, double v)" -->
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<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::slam::CMetricMapBuilderICP::TConfigParams::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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<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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<a class="anchor" id="a7b1b78257b43c7fd52290c11cc7b892e"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::TConfigParams::loadFromConfigFile" ref="a7b1b78257b43c7fd52290c11cc7b892e" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">virtual void mrpt::slam::CMetricMapBuilderICP::TConfigParams::loadFromConfigFile </td>
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<p>This method load the options from a ".ini"-like file or memory-stored string list. </p>
<p>Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" <a href="file:">file:</a> </p>
<div class="fragment"><pre class="fragment"> [section]
resolution=0.10 ; blah blah...
modeSelection=1 ; 0=blah, 1=blah,...
</pre></div><dl class="see"><dt><b>See also:</b></dt><dd><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>, <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> </dd></dl>
<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::CMetricMapBuilderICP::TConfigParams::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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<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::CMetricMapBuilderICP::TConfigParams::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" -->
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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="a6484ff62d03978a69175b83c091c1dbb"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionAngDistance" ref="a6484ff62d03978a69175b83c091c1dbb" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a6484ff62d03978a69175b83c091c1dbb">mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionAngDistance</a></td>
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<p>Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be inserted in the map. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00073">73</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a3757282f5b7142e0e21be4b94e3f8c38"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionLinDistance" ref="a3757282f5b7142e0e21be4b94e3f8c38" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a3757282f5b7142e0e21be4b94e3f8c38">mrpt::slam::CMetricMapBuilderICP::TConfigParams::insertionLinDistance</a></td>
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<p>Minimum robot linear (m) displacement for a new observation to be inserted in the map. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00072">72</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a694d6af3a9bab2898cd8e7c5653e641f"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::TConfigParams::localizationAngDistance" ref="a694d6af3a9bab2898cd8e7c5653e641f" args="" -->
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<p>Minimum robot angular (rad, deg when loaded from the .ini) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry). </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00075">75</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a3d4edd405000b8399f94f130ba55db02"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::TConfigParams::localizationLinDistance" ref="a3d4edd405000b8399f94f130ba55db02" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a3d4edd405000b8399f94f130ba55db02">mrpt::slam::CMetricMapBuilderICP::TConfigParams::localizationLinDistance</a></td>
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<p>Minimum robot linear (m) displacement for a new observation to be used to do ICP-based localization (otherwise, dead-reckon with odometry). </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00074">74</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a1e858d31f52331e1e85de46938feecf4"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::TConfigParams::mapInitializers" ref="a1e858d31f52331e1e85de46938feecf4" 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_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a1e858d31f52331e1e85de46938feecf4">mrpt::slam::CMetricMapBuilderICP::TConfigParams::mapInitializers</a></td>
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<p>What maps to create (at least one points map and/or a grid map are needed). </p>
<p>For the expected format in the .ini file when loaded with <a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a7b1b78257b43c7fd52290c11cc7b892e" title="This method load the options from a ".ini"-like file or memory-stored string list.">loadFromConfigFile()</a>, see documentation of <a class="el" href="classmrpt_1_1slam_1_1_t_set_of_metric_map_initializers.html" title="A set of TMetricMapInitializer structures, passed to the constructor CMultiMetricMap::CMultiMetricMap...">TSetOfMetricMapInitializers</a>. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00082">82</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a77faede8063e53097691ad8548b573d8"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::TConfigParams::matchAgainstTheGrid" ref="a77faede8063e53097691ad8548b573d8" args="" -->
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<p>(default:false) Match against the occupancy grid or the points map? The former is quicker but less precise. </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00070">70</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.h</a>.</p>
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<a class="anchor" id="a1e37e7ae01b1aed7be2e9c7815f8697b"></a><!-- doxytag: member="mrpt::slam::CMetricMapBuilderICP::TConfigParams::minICPgoodnessToAccept" ref="a1e37e7ae01b1aed7be2e9c7815f8697b" args="" -->
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<td class="memname">double <a class="el" href="structmrpt_1_1slam_1_1_c_metric_map_builder_i_c_p_1_1_t_config_params.html#a1e37e7ae01b1aed7be2e9c7815f8697b">mrpt::slam::CMetricMapBuilderICP::TConfigParams::minICPgoodnessToAccept</a></td>
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<p>Minimum ICP goodness (0,1) to accept the resulting corrected position (default: 0.40) </p>
<p>Definition at line <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html#l00077">77</a> of file <a class="el" href="_c_metric_map_builder_i_c_p_8h_source.html">CMetricMapBuilderICP.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>
