Struct SlamConfig

• Defined in File slam_backend.h

Struct Documentation

struct SlamConfig

Configuration parameters for the SLAM backend.

Public Members

double min_range = 0.0

Minimum range of sensor measurements to be considered (meters)

double max_range = 150.0

Maximum range of sensor measurements to be considered (meters)

double voxel_size = 0.0

Size of the voxel grid for downsampling.

Eigen::Matrix4d initial_pose = Eigen::Matrix4d::Identity()

Initial pose of the sensor.

std::string backend = "kiss"

The backend to be used for SLAM.

std::string deskew_method = "auto"

Deskewing method to be applied.