Added parameter Rtabmap/LoopGPS (default true) to enabled/disable the use of GPS in likelihood computation

corelib/include/rtabmap/core/Parameters.h

@@ -193,6 +193,7 @@ class RTABMAP_EXP Parameters
     // Hypotheses selection
     RTABMAP_PARAM(Rtabmap, LoopThr,           float, 0.11,      "Loop closing threshold.");
     RTABMAP_PARAM(Rtabmap, LoopRatio,         float, 0,         "The loop closure hypothesis must be over LoopRatio x lastHypothesisValue.");
+    RTABMAP_PARAM(Rtabmap, LoopGPS,           bool,  true,      uFormat("Use GPS to filter likelihood (if GPS is recorded). Only locations inside the local radius \"%s\" of the current GPS location are considered for loop closure detection.", kRGBDLocalRadius().c_str()));
 
     // Memory
     RTABMAP_PARAM(Mem, RehearsalSimilarity,         float, 0.6,     "Rehearsal similarity.");

corelib/include/rtabmap/core/Rtabmap.h

@@ -261,6 +261,7 @@ private:
 	float _pathAngularVelocity;
 	bool _savedLocalizationIgnored;
 	bool _loopCovLimited;
+	bool _loopGPS;
 
 	std::pair<int, float> _loopClosureHypothesis;
 	std::pair<int, float> _highestHypothesis;