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<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1Parameters.html">Parameters</a></li> </ul>
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<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
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<div class="headertitle"><div class="title">rtabmap::Parameters Class Reference</div></div>
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<p><code>#include &lt;<a class="el" href="Parameters_8h_source.html">Parameters.h</a>&gt;</code></p>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
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static bool&#160;</td><td class="memItemRight" valign="bottom"><b>parse</b> (const ParametersMap &amp;parameters, const std::string &amp;key, bool &amp;value)</td></tr>
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static bool&#160;</td><td class="memItemRight" valign="bottom"><b>parse</b> (const ParametersMap &amp;parameters, const std::string &amp;key, int &amp;value)</td></tr>
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static bool&#160;</td><td class="memItemRight" valign="bottom"><b>parse</b> (const ParametersMap &amp;parameters, const std::string &amp;key, float &amp;value)</td></tr>
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static bool&#160;</td><td class="memItemRight" valign="bottom"><b>parse</b> (const ParametersMap &amp;parameters, const std::string &amp;key, double &amp;value)</td></tr>
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static bool&#160;</td><td class="memItemRight" valign="bottom"><b>parse</b> (const ParametersMap &amp;parameters, const std::string &amp;key, std::string &amp;value)</td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><b>parse</b> (const ParametersMap &amp;parameters, ParametersMap &amp;parametersOut)</td></tr>
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static ParametersMap&#160;</td><td class="memItemRight" valign="bottom"><b>parseArguments</b> (int argc, char *argv[], bool onlyParameters=false)</td></tr>
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static std::string&#160;</td><td class="memItemRight" valign="bottom"><b>getVersion</b> ()</td></tr>
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static std::string&#160;</td><td class="memItemRight" valign="bottom"><b>getDefaultDatabaseName</b> ()</td></tr>
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static std::string&#160;</td><td class="memItemRight" valign="bottom"><b>serialize</b> (const ParametersMap &amp;parameters)</td></tr>
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static ParametersMap&#160;</td><td class="memItemRight" valign="bottom"><b>deserialize</b> (const std::string &amp;parameters)</td></tr>
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static bool&#160;</td><td class="memItemRight" valign="bottom"><b>isFeatureParameter</b> (const std::string &amp;param)</td></tr>
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static ParametersMap&#160;</td><td class="memItemRight" valign="bottom"><b>getDefaultOdometryParameters</b> (bool stereo=false, bool vis=true, bool icp=false)</td></tr>
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static ParametersMap&#160;</td><td class="memItemRight" valign="bottom"><b>getDefaultParameters</b> (const std::string &amp;group)</td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><b>readINI</b> (const std::string &amp;configFile, ParametersMap &amp;parameters, bool modifiedOnly=false)</td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><b>readINIStr</b> (const std::string &amp;configContent, ParametersMap &amp;parameters, bool modifiedOnly=false)</td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><b>writeINI</b> (const std::string &amp;configFile, const ParametersMap &amp;parameters)</td></tr>
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<tr class="memitem:ae3e84e415669d8c8bf17b119683b1056" id="r_ae3e84e415669d8c8bf17b119683b1056"><td class="memItemLeft" align="right" valign="top">static const std::map&lt; std::string, std::pair&lt; bool, std::string &gt; &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#ae3e84e415669d8c8bf17b119683b1056">getRemovedParameters</a> ()</td></tr>
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<tr class="memitem:a66c12cd1e2e614cc5c987cf7f0dbe2be" id="r_a66c12cd1e2e614cc5c987cf7f0dbe2be"><td class="memItemLeft" align="right" valign="top">static const ParametersMap &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a66c12cd1e2e614cc5c987cf7f0dbe2be">getBackwardCompatibilityMap</a> ()</td></tr>
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static std::string&#160;</td><td class="memItemRight" valign="bottom"><b>createDefaultWorkingDirectory</b> ()</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Class <a class="el" href="classrtabmap_1_1Parameters.html">Parameters</a>. This class is used to manage all custom parameters we want in the application. It was designed to be very easy to add a new parameter (just by adding one line of code). The macro PARAM(PREFIX, NAME, TYPE, DEFAULT_VALUE) is used to create a parameter in this class. A parameter can be accessed after by Parameters::defaultPARAMETERNAME() for the default value, Parameters::kPARAMETERNAME for his key (parameter name). The class provides also a general map containing all the parameter's key and default value. This map can be accessed anywhere in the application by <a class="el" href="classrtabmap_1_1Parameters.html#a3921b82495e0308f8cfcbdb8ef072e21">Parameters::getDefaultParameters()</a>; Example: </p><div class="fragment"><div class="line"><span class="comment">//Defining a parameter in this class with the macro PARAM:</span></div>
<div class="line">PARAM(Video, ImageWidth, <span class="keywordtype">int</span>, 640);</div>
<div class="line"> </div>
<div class="line"><span class="comment">// Now from anywhere in the application (Parameters is a singleton)</span></div>
<div class="line"><span class="keywordtype">int</span> width = Parameters::defaultVideoImageWidth(); <span class="comment">// theDefaultValue = 640</span></div>
<div class="line">std::string theKey = Parameters::kVideoImageWidth(); <span class="comment">// theKey = &quot;Video/ImageWidth&quot;</span></div>
<div class="line">std::string strValue = Util::value(<a class="code hl_function" href="classrtabmap_1_1Parameters.html#a3921b82495e0308f8cfcbdb8ef072e21">Parameters::getDefaultParameters</a>(), theKey); <span class="comment">// strValue = &quot;640&quot;</span></div>
<div class="ttc" id="aclassrtabmap_1_1Parameters_html_a3921b82495e0308f8cfcbdb8ef072e21"><div class="ttname"><a href="classrtabmap_1_1Parameters.html#a3921b82495e0308f8cfcbdb8ef072e21">rtabmap::Parameters::getDefaultParameters</a></div><div class="ttdeci">static const ParametersMap &amp; getDefaultParameters()</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00978">Parameters.h:978</a></div></div>
</div><!-- fragment --> <dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1Parameters.html#a3921b82495e0308f8cfcbdb8ef072e21">getDefaultParameters()</a> TODO Add a detailed example with simple classes </dd></dl>
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00170">170</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
</div><h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a3921b82495e0308f8cfcbdb8ef072e21">&#9670;&#160;</a></span>getDefaultParameters()</h2>
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<td class="memname">static const ParametersMap &amp; rtabmap::Parameters::getDefaultParameters </td>
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<p>Get default parameters </p>
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00978">978</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a08f4ea48ac7dbd93cb322d1c89b455b0">&#9670;&#160;</a></span>getType()</h2>
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<td class="memname">static std::string rtabmap::Parameters::getType </td>
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<td class="paramname"><em>paramKey</em></td><td>)</td>
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<p>Get parameter type </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a7aacfe3e18e28a1fb81d0f3f0ffbb414">&#9670;&#160;</a></span>getDescription()</h2>
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<td class="memname">static std::string rtabmap::Parameters::getDescription </td>
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<td class="paramname"><em>paramKey</em></td><td>)</td>
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<p>Get parameter description </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a24faced7b8d2ebb7045cd6f8f6382ad7">&#9670;&#160;</a></span>filterParameters()</h2>
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<td class="memname">static ParametersMap rtabmap::Parameters::filterParameters </td>
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<td class="paramtype">const ParametersMap &amp;&#160;</td>
<td class="paramname"><em>parameters</em>, </td>
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<td class="paramname"><em>group</em>, </td>
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<p>If remove=false: keep only parameters of the specified group. If remove=true: remove parameters of the specified group. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ae3e84e415669d8c8bf17b119683b1056">&#9670;&#160;</a></span>getRemovedParameters()</h2>
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<td class="memname">static const std::map&lt; std::string, std::pair&lt; bool, std::string &gt; &gt; &amp; rtabmap::Parameters::getRemovedParameters </td>
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<p>Get removed parameters (backward compatibility) &lt;OldKeyName, &lt;isEqual, NewKeyName&gt; &gt;, when isEqual=true, the old value can be safely copied to new parameter </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a66c12cd1e2e614cc5c987cf7f0dbe2be">&#9670;&#160;</a></span>getBackwardCompatibilityMap()</h2>
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<td class="memname">static const ParametersMap &amp; rtabmap::Parameters::getBackwardCompatibilityMap </td>
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<p>&lt;NewKeyName, OldKeyName&gt; </p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="Parameters_8h_source.html">Parameters.h</a></li>
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