<!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::CPointsMap::TInsertionOptions 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 href="namespaces.html"><span>Namespaces</span></a></li>
<li class="current"><a href="annotated.html"><span>Classes</span></a></li>
<li><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="annotated.html"><span>Class List</span></a></li>
<li><a href="classes.html"><span>Class Index</span></a></li>
<li><a href="inherits.html"><span>Class Hierarchy</span></a></li>
<li><a href="functions.html"><span>Class Members</span></a></li>
</ul>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a 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_points_map.html">CPointsMap</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html">TInsertionOptions</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> |
<a href="#pro-static-methods">Static Protected Member Functions</a> </div>
<div class="headertitle">
<div class="title">mrpt::slam::CPointsMap::TInsertionOptions Struct Reference</div> </div>
</div>
<div class="contents">
<!-- doxytag: class="mrpt::slam::CPointsMap::TInsertionOptions" --><!-- doxytag: inherits="mrpt::utils::CLoadableOptions" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>With this struct options are provided to the observation insertion process. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>CObservation::insertIntoPointsMap </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_points_map_8h_source.html">mrpt/slam/CPointsMap.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::CPointsMap::TInsertionOptions:</div>
<div class="dyncontent">
<div class="center"><img src="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options_inherit__map" id="mrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_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="45,5,240,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_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_points_map_1_1_t_insertion_options.html#a951ba71fae6178a38fa004756a043030">TInsertionOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initilization of default parameters. <a href="#a951ba71fae6178a38fa004756a043030"></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_points_map_1_1_t_insertion_options.html#a88c4234acb0038e18a950f60a684bb6d">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">See <a class="el" 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...">utils::CLoadableOptions</a>. <a href="#a88c4234acb0038e18a950f60a684bb6d"></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_points_map_1_1_t_insertion_options.html#a36f00645654e5b50ff902da9b5a3bad9">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">See <a class="el" 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...">utils::CLoadableOptions</a>. <a href="#a36f00645654e5b50ff902da9b5a3bad9"></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_points_map_1_1_t_insertion_options.html#a000a3abe7e6f2913a06152861fa2187d">minDistBetweenLaserPoints</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. Default is 0.02 meters. <a href="#a000a3abe7e6f2913a06152861fa2187d"></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_points_map_1_1_t_insertion_options.html#add327bb248876dd3e04c68ba3ce9b536">addToExistingPointsMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. Default is false. <a href="#add327bb248876dd3e04c68ba3ce9b536"></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_points_map_1_1_t_insertion_options.html#a1d68e811a16965f4dbe025882c7ed9ab">also_interpolate</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false). <a href="#a1d68e811a16965f4dbe025882c7ed9ab"></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_points_map_1_1_t_insertion_options.html#aa032c43dc5ca9f32d577e0e2805739c6">disableDeletion</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. they don't exist yet. <a href="#aa032c43dc5ca9f32d577e0e2805739c6"></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_points_map_1_1_t_insertion_options.html#a69db253ac9a0d83917bbd1bd6412840c">fuseWithExisting</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true (default=false), inserted points are "fused" with previously existent ones. This shrink the size of the points map, but its slower. <a href="#a69db253ac9a0d83917bbd1bd6412840c"></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_points_map_1_1_t_insertion_options.html#a4920a0aae2ad279c4cb13a3d45a1fe18">isPlanarMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated). <a href="#a4920a0aae2ad279c4cb13a3d45a1fe18"></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_points_map_1_1_t_insertion_options.html#ac18819a87d2f88665183cd7c9830fa9e">horizontalTolerance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0). <a href="#ac18819a87d2f88665183cd7c9830fa9e"></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_points_map_1_1_t_insertion_options.html#ad367c8f31c4a0f080240f0b3a4ea280e">maxDistForInterpolatePoints</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true) <a href="#ad367c8f31c4a0f080240f0b3a4ea280e"></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="a951ba71fae6178a38fa004756a043030"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::TInsertionOptions" ref="a951ba71fae6178a38fa004756a043030" args="()" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">mrpt::slam::CPointsMap::TInsertionOptions::TInsertionOptions </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Initilization of default parameters. </p>
</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::dumpToConsole" ref="a37c6d8d52b1d9bdacaf073e6910bdd7f" args="() const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CLoadableOptions::dumpToConsole </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a36f00645654e5b50ff902da9b5a3bad9"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::dumpToTextStream" ref="a36f00645654e5b50ff902da9b5a3bad9" args="(CStream &out) const " -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::slam::CPointsMap::TInsertionOptions::dumpToTextStream </td>
<td>(</td>
<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>
</tr>
</table>
</div>
<div class="memdoc">
<p>See <a class="el" 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...">utils::CLoadableOptions</a>. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#adbe314b74deedfe953290ebf48750883">mrpt::utils::CLoadableOptions</a>.</p>
</div>
</div>
<a class="anchor" id="a63837b199914f55d8f0bd950f598fe14"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::dumpVar_bool" ref="a63837b199914f55d8f0bd950f598fe14" args="(CStream &out, const char *varName, bool v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_bool </td>
<td>(</td>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::dumpVar_double" ref="ac4ee21d250d3b3574790ceac343a27a9" args="(CStream &out, const char *varName, double v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_double </td>
<td>(</td>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::dumpVar_float" ref="a18862f2d04fc18dd2c2662331156189f" args="(CStream &out, const char *varName, float v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_float </td>
<td>(</td>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::dumpVar_int" ref="a886e9903515fdb12d4f052a7fd582bb6" args="(CStream &out, const char *varName, int v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_int </td>
<td>(</td>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR. </p>
</div>
</div>
<a class="anchor" id="a60b1c6599953f1d593e6a7b0421e5a77"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::dumpVar_string" ref="a60b1c6599953f1d593e6a7b0421e5a77" args="(CStream &out, const char *varName, const std::string &v)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_string </td>
<td>(</td>
<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>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>v</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a88c4234acb0038e18a950f60a684bb6d"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::loadFromConfigFile" ref="a88c4234acb0038e18a950f60a684bb6d" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::slam::CPointsMap::TInsertionOptions::loadFromConfigFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"><em>source</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<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>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>See <a class="el" 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...">utils::CLoadableOptions</a>. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_loadable_options.html#ae2373fce5f2c8d3f0bdad21433becad2">mrpt::utils::CLoadableOptions</a>.</p>
</div>
</div>
<a class="anchor" id="a1ce8e0f241fe85f78095e23d37b2b635"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::loadFromConfigFileName" ref="a1ce8e0f241fe85f78095e23d37b2b635" args="(const std::string &config_file, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CLoadableOptions::loadFromConfigFileName </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>config_file</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<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>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="a913c3433af4564cedeb25e24ace1cf28"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::saveToConfigFile" ref="a913c3433af4564cedeb25e24ace1cf28" args="(mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual void mrpt::utils::CLoadableOptions::saveToConfigFile </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_config_file_base.html">mrpt::utils::CConfigFileBase</a> & </td>
<td class="paramname"><em>source</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<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>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inline, virtual, inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<a class="anchor" id="aa059b0160ed9881c284bcea9a42c51f8"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::saveToConfigFileName" ref="aa059b0160ed9881c284bcea9a42c51f8" args="(const std::string &config_file, const std::string &section)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void mrpt::utils::CLoadableOptions::saveToConfigFileName </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>config_file</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<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>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [inherited]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<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>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="add327bb248876dd3e04c68ba3ce9b536"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::addToExistingPointsMap" ref="add327bb248876dd3e04c68ba3ce9b536" 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_points_map_1_1_t_insertion_options.html#add327bb248876dd3e04c68ba3ce9b536">mrpt::slam::CPointsMap::TInsertionOptions::addToExistingPointsMap</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Applicable to "loadFromRangeScan" only! If set to false, the points from the scan are loaded, clearing all previous content. Default is false. </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00193">193</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a1d68e811a16965f4dbe025882c7ed9ab"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::also_interpolate" ref="a1d68e811a16965f4dbe025882c7ed9ab" 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_points_map_1_1_t_insertion_options.html#a1d68e811a16965f4dbe025882c7ed9ab">mrpt::slam::CPointsMap::TInsertionOptions::also_interpolate</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>If set to true, far points (<1m) are interpolated with samples at "minDistSqrBetweenLaserPoints" intervals (Default is false). </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00194">194</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="aa032c43dc5ca9f32d577e0e2805739c6"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::disableDeletion" ref="aa032c43dc5ca9f32d577e0e2805739c6" 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_points_map_1_1_t_insertion_options.html#aa032c43dc5ca9f32d577e0e2805739c6">mrpt::slam::CPointsMap::TInsertionOptions::disableDeletion</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>If set to false (default=true) points in the same plane as the inserted scan and inside the free space, are erased: i.e. they don't exist yet. </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00195">195</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a69db253ac9a0d83917bbd1bd6412840c"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::fuseWithExisting" ref="a69db253ac9a0d83917bbd1bd6412840c" 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_points_map_1_1_t_insertion_options.html#a69db253ac9a0d83917bbd1bd6412840c">mrpt::slam::CPointsMap::TInsertionOptions::fuseWithExisting</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>If set to true (default=false), inserted points are "fused" with previously existent ones. This shrink the size of the points map, but its slower. </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00196">196</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="ac18819a87d2f88665183cd7c9830fa9e"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::horizontalTolerance" ref="ac18819a87d2f88665183cd7c9830fa9e" 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_points_map_1_1_t_insertion_options.html#ac18819a87d2f88665183cd7c9830fa9e">mrpt::slam::CPointsMap::TInsertionOptions::horizontalTolerance</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0). </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00198">198</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a4920a0aae2ad279c4cb13a3d45a1fe18"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::isPlanarMap" ref="a4920a0aae2ad279c4cb13a3d45a1fe18" 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_points_map_1_1_t_insertion_options.html#a4920a0aae2ad279c4cb13a3d45a1fe18">mrpt::slam::CPointsMap::TInsertionOptions::isPlanarMap</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>If set to true, only HORIZONTAL (in the XY plane) measurements will be inserted in the map (Default value is false, thus 3D maps are generated). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="structmrpt_1_1slam_1_1_c_points_map_1_1_t_insertion_options.html#ac18819a87d2f88665183cd7c9830fa9e" title="The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, considered only when isPlanarMap=true (default=0).">horizontalTolerance</a> </dd></dl>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00197">197</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="ad367c8f31c4a0f080240f0b3a4ea280e"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::maxDistForInterpolatePoints" ref="ad367c8f31c4a0f080240f0b3a4ea280e" 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_points_map_1_1_t_insertion_options.html#ad367c8f31c4a0f080240f0b3a4ea280e">mrpt::slam::CPointsMap::TInsertionOptions::maxDistForInterpolatePoints</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The maximum distance between two points to interpolate between them (ONLY when also_interpolate=true) </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00199">199</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
</div>
</div>
<a class="anchor" id="a000a3abe7e6f2913a06152861fa2187d"></a><!-- doxytag: member="mrpt::slam::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints" ref="a000a3abe7e6f2913a06152861fa2187d" 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_points_map_1_1_t_insertion_options.html#a000a3abe7e6f2913a06152861fa2187d">mrpt::slam::CPointsMap::TInsertionOptions::minDistBetweenLaserPoints</a></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>The minimum distance between points (in 3D): If two points are too close, one of them is not inserted into the map. Default is 0.02 meters. </p>
<p>Definition at line <a class="el" href="_c_points_map_8h_source.html#l00192">192</a> of file <a class="el" href="_c_points_map_8h_source.html">CPointsMap.h</a>.</p>
</div>
</div>
</div>
<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>
