mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 09:30:25 +08:00
Increased version to 0.10.10. Database: added user_data field for links. DatabaseViewer: showing all scans of a local loop closure. Added parameters RGBD/PlanLinearVelocity and RGBD/PlanAngularVelocity. Updated how variance is set on links. MainWindow: added Send Waypoints action and goal can be either an ID or a label.
This commit is contained in:
matlabbe
@@ -211,6 +211,7 @@
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<addaction name="actionTrigger_a_new_map"/>
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<addaction name="separator"/>
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<addaction name="actionLabel_current_location"/>
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<addaction name="actionSend_waypoints"/>
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<addaction name="actionSend_goal"/>
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<addaction name="actionCancel_goal"/>
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</widget>
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@@ -1271,6 +1272,11 @@
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<string>Custom...</string>
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</property>
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</action>
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<action name="actionSend_waypoints">
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<property name="text">
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<string>Send waypoints...</string>
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</property>
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</action>
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</widget>
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<customwidgets>
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<customwidget>
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@@ -63,9 +63,9 @@
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>755</width>
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<height>1715</height>
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<y>-374</y>
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<width>760</width>
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<height>1678</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_16">
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@@ -86,7 +86,7 @@
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<enum>QFrame::Raised</enum>
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</property>
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<property name="currentIndex">
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<number>20</number>
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<number>3</number>
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</property>
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<widget class="QWidget" name="page_22">
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<layout class="QVBoxLayout" name="verticalLayout_29">
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@@ -1769,7 +1769,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_src">
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<property name="currentIndex">
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<number>1</number>
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<number>3</number>
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</property>
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<widget class="QWidget" name="page_41">
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<layout class="QVBoxLayout" name="verticalLayout_64">
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@@ -2409,7 +2409,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item>
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<widget class="QStackedWidget" name="stackedWidget_stereo">
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<property name="currentIndex">
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<number>2</number>
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<number>3</number>
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</property>
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<widget class="QWidget" name="page_49"/>
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<widget class="QWidget" name="page_48"/>
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@@ -2929,7 +2929,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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<item row="0" column="1">
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<widget class="QLineEdit" name="source_database_lineEdit_path"/>
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</item>
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<item row="4" column="1">
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<item row="5" column="1">
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<widget class="QLabel" name="label_58">
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<property name="text">
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<string>Start position (index)</string>
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@@ -2939,7 +2939,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<item row="5" column="0">
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<widget class="QSpinBox" name="source_spinBox_databaseStartPos">
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<property name="minimum">
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<number>0</number>
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@@ -2962,7 +2962,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<item row="4" column="1">
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<widget class="QLabel" name="label_80">
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<property name="text">
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<string>Ignore goal delay.</string>
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@@ -2975,7 +2975,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<item row="4" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreGoalDelay">
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<property name="text">
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<string/>
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@@ -3002,7 +3002,7 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</widget>
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</item>
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<item row="5" column="1">
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<item row="6" column="1">
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<spacer name="verticalSpacer_35">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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@@ -3015,6 +3015,26 @@ when using the file type, logs are saved in LogRtabmap.txt (located in the worki
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</property>
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</spacer>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_263">
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<property name="text">
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<string>Ignore goals saved in the database.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QCheckBox" name="source_checkBox_ignoreGoals">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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</layout>
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</widget>
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</item>
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@@ -6986,27 +7006,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="2" column="0">
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<widget class="QCheckBox" name="graphPlan_planWithNearNodesLinked">
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<property name="text">
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<string/>
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</property>
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</widget>
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</item>
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<item row="2" column="1">
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<widget class="QLabel" name="label_space3_4">
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<property name="text">
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<string>Add virtual links. Before planning in the graph, near nodes are linked together. The maximum distance is defined by "Goal reached radius" above. If "Maximum ID difference" below is set, only close nodes in time can be linked together.</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_space3_5">
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<property name="text">
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<string>When a goal is received and processed with success, it is saved in user data of the location with this format: "GOAL:#".</string>
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@@ -7019,7 +7019,7 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<item row="2" column="0">
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<widget class="QCheckBox" name="graphPlan_goalsSavedInUserData">
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<property name="text">
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<string/>
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@@ -7046,6 +7046,58 @@ If set to false, classic RTAB-Map loop closure detection is done using only imag
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</property>
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</widget>
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</item>
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<item row="3" column="0">
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<widget class="QDoubleSpinBox" name="graphPlan_linearVelocity">
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<property name="suffix">
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<string> m/s</string>
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</property>
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<property name="singleStep">
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<double>0.100000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="4" column="0">
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<widget class="QDoubleSpinBox" name="graphPlan_angularVelocity">
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<property name="suffix">
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<string> rad/s</string>
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</property>
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<property name="maximum">
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<double>10.000000000000000</double>
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</property>
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<property name="value">
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<double>0.000000000000000</double>
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</property>
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</widget>
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</item>
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<item row="3" column="1">
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<widget class="QLabel" name="label_space3_6">
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<property name="text">
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<string>Linear velocity used to compute path weights based on time instead of distance (0=disabled).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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<item row="4" column="1">
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<widget class="QLabel" name="label_space3_7">
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<property name="text">
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<string>Angular velocity used to compute path weights based on time instead of distance. Paths with poses in the same direction of the robot will have lower costs (0=disabled).</string>
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</property>
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<property name="wordWrap">
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<bool>true</bool>
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</property>
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<property name="textInteractionFlags">
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<set>Qt::LinksAccessibleByMouse|Qt::TextSelectableByMouse</set>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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</layout>
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