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Added sensorStateOnly parameter : dont use the actuator values in the SM state if true

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@99 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2011-06-13 18:29:21 +00:00
parent 196dc01a57
commit e2cad72bd0
7 changed files with 108 additions and 232 deletions
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corelib/include/rtabmap/core/Parameters.h
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@@ -165,6 +165,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Kp, ReactivatedWordsComparedToNewWords, bool, true); //Reactivated words are compared to the last words added in the dictionary (which are not indexed)
RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, false); // Use of the td-idf strategy to compute the likelihood
RTABMAP_PARAM(Kp, Parallelized, bool, true); // If the dictionary update and signature creation were parallelized
RTABMAP_PARAM(Kp, SensorStateOnly, bool, false); // If using only sensors state (without actuators) for sensorimotor state nearest neighbor computation
RTABMAP_PARAM(Kp, TfIdfNormalized, bool, false); // If tf-idf weighting is normalized by the words count ratio between compared signatures
RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0"); // Region of interest ratios [left, right, top, bottom]
RTABMAP_PARAM_STR(Kp, DictionaryPath, ""); // Path of the pre-computed dictionary