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<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html">COccupancyGridMap2D</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html">TInsertionOptions</a> </li>
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<a href="#pub-methods">Public Member Functions</a> |
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<div class="title">mrpt::slam::COccupancyGridMap2D::TInsertionOptions Class Reference</div> </div>
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<!-- doxytag: class="mrpt::slam::COccupancyGridMap2D::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::insertIntoGridMap </dd></dl>
</div>
<p><code>#include <<a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">mrpt/slam/COccupancyGridMap2D.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::slam::COccupancyGridMap2D::TInsertionOptions:</div>
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<div class="center"><img src="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options__inherit__graph.png" border="0" usemap="#mrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options_inherit__map" id="mrpt_1_1slam_1_1_c_occupancy_grid_map2_d_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="80,5,275,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_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="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a7bb6a9c983430f9e270eeb1463bd6d40">TInsertionOptions</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initilization of default parameters. <a href="#a7bb6a9c983430f9e270eeb1463bd6d40"></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_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a83582c84b77edbfcce94fa8ef3cdaee1">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" file. <a href="#a83582c84b77edbfcce94fa8ef3cdaee1"></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_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a0c57df2c30c3cf7fe39144133126671e">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="#a0c57df2c30c3cf7fe39144133126671e"></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="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a2b3d4b7e8bb4ebc7dd5c42ba08d7543b">mapAltitude</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map! <a href="#a2b3d4b7e8bb4ebc7dd5c42ba08d7543b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a4bff78a9a1f8c096e75cd14b68a89145">useMapAltitude</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true. <a href="#a4bff78a9a1f8c096e75cd14b68a89145"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#aa1412825241629c1d5acd9a4a1a4cafa">maxDistanceInsertion</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The largest distance at which cells will be updated (Default 15 meters) <a href="#aa1412825241629c1d5acd9a4a1a4cafa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a6740c382b00b8705a9111572f62dece1">maxOccupancyUpdateCertainty</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8) <a href="#a6740c382b00b8705a9111572f62dece1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a41a59d71f0b112edafbcc23d295a7d86">considerInvalidRangesAsFreeSpace</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray. <a href="#a41a59d71f0b112edafbcc23d295a7d86"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a79bb90fd2d0917c2453b773a385d283f">decimation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Specify the decimation of the range scan (default=1 : take all the range values!) <a href="#a79bb90fd2d0917c2453b773a385d283f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a72a3a89324ed7a934db8722efe972be2">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, then processed by calls to this class (default=0). <a href="#a72a3a89324ed7a934db8722efe972be2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a18730bc93b2cde3b517e234496c1ec83">CFD_features_gaussian_size</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled) <a href="#a18730bc93b2cde3b517e234496c1ec83"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#ace2fc6dd1d6622f1d34a9ec7786a7ea6">CFD_features_median_size</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled) <a href="#ace2fc6dd1d6622f1d34a9ec7786a7ea6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#ad97e9b0b25f2018370dddfce57c1a6ab">wideningBeamsWithDistance</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=true) <a href="#ad97e9b0b25f2018370dddfce57c1a6ab"></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="a7bb6a9c983430f9e270eeb1463bd6d40"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::TInsertionOptions" ref="a7bb6a9c983430f9e270eeb1463bd6d40" args="()" -->
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<td class="memname">mrpt::slam::COccupancyGridMap2D::TInsertionOptions::TInsertionOptions </td>
<td>(</td>
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<p>Initilization of default parameters. </p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a37c6d8d52b1d9bdacaf073e6910bdd7f"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::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="a0c57df2c30c3cf7fe39144133126671e"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::dumpToTextStream" ref="a0c57df2c30c3cf7fe39144133126671e" args="(CStream &out) const " -->
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<td class="memname">void mrpt::slam::COccupancyGridMap2D::TInsertionOptions::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::COccupancyGridMap2D::TInsertionOptions::dumpVar_bool" ref="a63837b199914f55d8f0bd950f598fe14" args="(CStream &out, const char *varName, bool v)" -->
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<td class="memname">static void mrpt::utils::CLoadableOptions::dumpVar_bool </td>
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<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
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<td></td>
<td class="paramtype">const char * </td>
<td class="paramname"><em>varName</em>, </td>
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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="ac4ee21d250d3b3574790ceac343a27a9"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::dumpVar_double" ref="ac4ee21d250d3b3574790ceac343a27a9" args="(CStream &out, const char *varName, double v)" -->
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<a class="anchor" id="a18862f2d04fc18dd2c2662331156189f"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::dumpVar_float" ref="a18862f2d04fc18dd2c2662331156189f" args="(CStream &out, const char *varName, float v)" -->
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<a class="anchor" id="a886e9903515fdb12d4f052a7fd582bb6"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::dumpVar_int" ref="a886e9903515fdb12d4f052a7fd582bb6" args="(CStream &out, const char *varName, int v)" -->
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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="a83582c84b77edbfcce94fa8ef3cdaee1"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile" ref="a83582c84b77edbfcce94fa8ef3cdaee1" args="(const mrpt::utils::CConfigFileBase &source, const std::string &section)" -->
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<td class="memname">void mrpt::slam::COccupancyGridMap2D::TInsertionOptions::loadFromConfigFile </td>
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<p>This method load the options from a ".ini" file. </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]
<a class="code" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d.html#a16e113fd57e5dfaa69d293862eb22a89" title="Cell size, i.e.">resolution</a>=0.10 ; blah blah...
modeSelection=1 ; 0=blah, 1=blah,...
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<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::COccupancyGridMap2D::TInsertionOptions::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::COccupancyGridMap2D::TInsertionOptions::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::COccupancyGridMap2D::TInsertionOptions::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="a18730bc93b2cde3b517e234496c1ec83"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::CFD_features_gaussian_size" ref="a18730bc93b2cde3b517e234496c1ec83" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a18730bc93b2cde3b517e234496c1ec83">mrpt::slam::COccupancyGridMap2D::TInsertionOptions::CFD_features_gaussian_size</a></td>
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<p>Gaussian sigma of the filter used in getAsImageFiltered (for features detection) (Default=1) (0:Disabled) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00568">568</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="ace2fc6dd1d6622f1d34a9ec7786a7ea6"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::CFD_features_median_size" ref="ace2fc6dd1d6622f1d34a9ec7786a7ea6" args="" -->
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<td class="memname">float <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#ace2fc6dd1d6622f1d34a9ec7786a7ea6">mrpt::slam::COccupancyGridMap2D::TInsertionOptions::CFD_features_median_size</a></td>
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<p>Size of the Median filter used in getAsImageFiltered (for features detection) (Default=3) (0:Disabled) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00571">571</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="a41a59d71f0b112edafbcc23d295a7d86"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::considerInvalidRangesAsFreeSpace" ref="a41a59d71f0b112edafbcc23d295a7d86" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a41a59d71f0b112edafbcc23d295a7d86">mrpt::slam::COccupancyGridMap2D::TInsertionOptions::considerInvalidRangesAsFreeSpace</a></td>
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<p>If set to true (default), invalid range values (no echo rays) as consider as free space until "maxOccupancyUpdateCertainty", but ONLY when the previous and next rays are also an invalid ray. </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00558">558</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="a79bb90fd2d0917c2453b773a385d283f"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::decimation" ref="a79bb90fd2d0917c2453b773a385d283f" args="" -->
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<td class="memname">uint16_t <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#a79bb90fd2d0917c2453b773a385d283f">mrpt::slam::COccupancyGridMap2D::TInsertionOptions::decimation</a></td>
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<p>Specify the decimation of the range scan (default=1 : take all the range values!) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00562">562</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="a72a3a89324ed7a934db8722efe972be2"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::horizontalTolerance" ref="a72a3a89324ed7a934db8722efe972be2" args="" -->
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<p>The tolerance in rads in pitch & roll for a laser scan to be considered horizontal, then processed by calls to this class (default=0). </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00565">565</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="a2b3d4b7e8bb4ebc7dd5c42ba08d7543b"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::mapAltitude" ref="a2b3d4b7e8bb4ebc7dd5c42ba08d7543b" args="" -->
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<p>The altitude (z-axis) of 2D scans (within a 0.01m tolerance) for they to be inserted in this map! </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00542">542</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="aa1412825241629c1d5acd9a4a1a4cafa"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::maxDistanceInsertion" ref="aa1412825241629c1d5acd9a4a1a4cafa" args="" -->
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<p>The largest distance at which cells will be updated (Default 15 meters) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00550">550</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="a6740c382b00b8705a9111572f62dece1"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::maxOccupancyUpdateCertainty" ref="a6740c382b00b8705a9111572f62dece1" args="" -->
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<p>A value in the range [0.5,1] used for updating cell with a bayesian approach (default 0.8) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00554">554</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="a4bff78a9a1f8c096e75cd14b68a89145"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::useMapAltitude" ref="a4bff78a9a1f8c096e75cd14b68a89145" args="" -->
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<p>The parameter "mapAltitude" has effect while inserting observations in the grid only if this is true. </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00546">546</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.h</a>.</p>
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<a class="anchor" id="ad97e9b0b25f2018370dddfce57c1a6ab"></a><!-- doxytag: member="mrpt::slam::COccupancyGridMap2D::TInsertionOptions::wideningBeamsWithDistance" ref="ad97e9b0b25f2018370dddfce57c1a6ab" args="" -->
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<td class="memname">bool <a class="el" href="classmrpt_1_1slam_1_1_c_occupancy_grid_map2_d_1_1_t_insertion_options.html#ad97e9b0b25f2018370dddfce57c1a6ab">mrpt::slam::COccupancyGridMap2D::TInsertionOptions::wideningBeamsWithDistance</a></td>
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<p>Enabled: Rays widen with distance to approximate the real behavior of lasers, disabled: insert rays as simple lines (Default=true) </p>
<p>Definition at line <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html#l00573">573</a> of file <a class="el" href="_c_occupancy_grid_map2_d_8h_source.html">COccupancyGridMap2D.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>
