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Added parameter actionsSentRejectedHyp (actions also sent on rejected hypotheses or decreasing hyp), default false

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@85 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2011-06-08 20:19:37 +00:00
parent edf8bbb735
commit c59d461c81
5 changed files with 35 additions and 7 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -132,6 +132,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, LocalGraphCleaned, bool, false); // Clean the neighborhood of the retrieved id
RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2); // Maximum locations retrieved at the same time from LTM
RTABMAP_PARAM(Rtabmap, ActionsByTime, bool, true); // Select next actions based on the more recent neighbor of the current node, otherwise, weight is also used
RTABMAP_PARAM(Rtabmap, ActionsSentRejectHyp, bool, false); // Actions sent also on rejected hypotheses (on decreasing hypotheses)
// Hypotheses selection
RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.10); // Loop closing threshold

1
corelib/include/rtabmap/core/Rtabmap.h
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@@ -134,6 +134,7 @@ private:
bool _localGraphCleaned;
unsigned int _maxRetrieved;
bool _actionsByTime;
bool _actionsSentRejectHyp;
int _lcHypothesisId;
int _reactivateId;