Index

A

a_body variable a_body_std variable AbsFactorConstVelKinematics function AbsFactorTricycleKinematics function active variable add function add_imu_gravity_factors function add_non_keyframes_too variable addHorizontalityConstraints variable additional_isam2_update_steps variable addPathModuleLibs function addPathModuleSources function addViewVectors_scalar function align function AlignKind enum

allLayers variable allowMatchAlreadyMatchedGlobalPoints_ variable allowMatchAlreadyMatchedPoints_ variable anchor_id variable apply_filter_pipeline function apply_generators function applyPivotTransform function, [1] asString function, [1], [2], [3], [4], [5] assumed_sensor_rate_hz_ variable at function, [1], [2], [3], [4], [5] attachToDataConsumer function autoBoundingBoxOutliersPercentile variable averaging_samples variable axis_eps variable

B

B variable BACKEND_IMGUI variable BACKEND_NANOGUI variable base_footprint_frame variable base_footprint_to_base_link_tf variable base_link_frame variable bias_acc variable bias_gyro variable Bibliography page BOOST_AUTO_TEST_CASE function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24]

BOOST_AUTO_TEST_CASE_TEMPLATE function BOOST_TEST_MODULE define bounding_box variable bounding_box_intersection_check_epsilon variable bounding_box_intersection_check_epsilon_ variable boundingBox function, [1], [2], [3], [4] bucket_entry function bucket_for_hash function buildCache function

C

CACHE_MISS_VALUE variable cachedPoints variable Cauchy enumvalue Censi3D enumvalue center variable check_for_removal_every_n variable child_frame variable class copy_only_test custom_allocator deserializer identity_hash mod_hash mola::BinFileDataset mola::BridgeROS2 mola::Dataset_UI mola::DiagnosticsProvider mola::EurocDataset mola::ExecutableBase mola::factors::FactorAngularVelocityIntegration mola::factors::FactorAngularVelocityIntegrationPose mola::factors::FactorConstLocalVelocity mola::factors::FactorConstLocalVelocityPose mola::factors::FactorGnssEnu mola::factors::FactorGnssMapEnu mola::factors::FactorTrapezoidalIntegrator mola::factors::FactorTrapezoidalIntegratorPose mola::factors::FactorTricycleKinematic mola::factors::MeasuredGravityFactor mola::factors::Pose3RotationFactor mola::FilterBase mola::FixedDenseGrid3D mola::FrontEndBase mola::GravityMapAligner mola::HashedSetSE3 mola::HashedVoxelPointCloud mola::KeyframeMapCapable mola::KeyframePointCloudMap mola::KeyframePointCloudMap::KeyFrame mola::Kitti360Dataset mola::KittiOdometryDataset mola::LidarOdometry mola::LocalizationSourceBase mola::MapServer mola::MapSourceBase mola::MinimalModuleContainer mola::MockDiagModule mola::MolaLauncherApp mola::MolaViz mola::MulranDataset mola::NavStateFilter mola::NDT mola::OccGrid mola::OfflineDatasetSource mola::ParisLucoDataset mola::RawDataConsumer mola::RawDataSourceBase mola::RawlogDataset mola::RegexCache mola::Relocalization mola::Rosbag2Dataset mola::SearchablePoseList mola::SparseTreesPointCloud mola::SparseVoxelPointCloud mola::state_estimation_simple::Parameters mola::state_estimation_simple::StateEstimationSimple mola::state_estimation_smoother::Parameters mola::state_estimation_smoother::StateEstimationSmoother mola::state_estimation_smoother::StateEstimationSmoother::AbsFactorConstVelKinematics mola::state_estimation_smoother::StateEstimationSmoother::AbsFactorTricycleKinematics mola::Synchronizer mola::TrajectoryRebaker mola::VideoDataset mola::VizInterface move_only_test mp2p_icp::ICP mp2p_icp::IcpPrepareCapable mp2p_icp::LogRecord mp2p_icp::Matcher mp2p_icp::Matcher_Adaptive mp2p_icp::Matcher_Cov2Cov mp2p_icp::Matcher_Point2Line mp2p_icp::Matcher_Point2Plane mp2p_icp::Matcher_Points_Base mp2p_icp::Matcher_Points_DistanceThreshold mp2p_icp::Matcher_Points_InlierRatio mp2p_icp::metric_map_t mp2p_icp::MetricMapMergeCapable mp2p_icp::NearestPlaneCapable mp2p_icp::NearestPointWithCovCapable mp2p_icp::QualityEvaluator mp2p_icp::QualityEvaluator_PairedRatio mp2p_icp::QualityEvaluator_RangeImageSimilarity mp2p_icp::QualityEvaluator_Voxels mp2p_icp::Solver mp2p_icp::Solver_GaussNewton mp2p_icp::Solver_Horn mp2p_icp::Solver_OLAE mp2p_icp_filters::FilterAbsoluteTimestamp mp2p_icp_filters::FilterAdjustTimestamps mp2p_icp_filters::FilterBase mp2p_icp_filters::FilterBoundingBox mp2p_icp_filters::FilterByExpression mp2p_icp_filters::FilterByIntensity mp2p_icp_filters::FilterByRange mp2p_icp_filters::FilterByRing mp2p_icp_filters::FilterClear mp2p_icp_filters::FilterCurvature mp2p_icp_filters::FilterDecimate mp2p_icp_filters::FilterDecimateAdaptive mp2p_icp_filters::FilterDecimateVoxels mp2p_icp_filters::FilterDeleteLayer mp2p_icp_filters::FilterDeskew mp2p_icp_filters::FilterEdgesPlanes mp2p_icp_filters::FilterFartherPointSampling mp2p_icp_filters::FilterMerge mp2p_icp_filters::FilterMLS mp2p_icp_filters::FilterNormalizeIntensity mp2p_icp_filters::FilterPoleDetector mp2p_icp_filters::FilterRemoveByVoxelOccupancy mp2p_icp_filters::FilterRemovePointCloudField mp2p_icp_filters::FilterRenameLayer mp2p_icp_filters::FilterSOR mp2p_icp_filters::FilterVoxelSlice mp2p_icp_filters::FilterVoxelSOR mp2p_icp_filters::Generator mp2p_icp_filters::GeneratorEdgesFromCurvature mp2p_icp_filters::GeneratorEdgesFromRangeImage mp2p_icp_filters::PointCloudToVoxelGrid mp2p_icp_filters::PointCloudToVoxelGridSingle self_reference_member_test serializer TraitsTest tsl::detail_robin_hash::bucket_entry tsl::detail_robin_hash::bucket_entry_hash tsl::detail_robin_hash::bucket_entry_hash<true> tsl::detail_robin_hash::robin_hash tsl::detail_robin_hash::robin_hash::robin_iterator tsl::rh::mod_growth_policy tsl::rh::power_of_two_growth_policy tsl::rh::prime_growth_policy tsl::robin_map tsl::robin_map::KeySelect tsl::robin_map::ValueSelect tsl::robin_set tsl::robin_set::KeySelect utils

clear function, [1], [2], [3], [4], [5] clear_all_point_clouds_with_decay function, [1] Cli struct clone function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10] cloneKFPoses function ClosestToAverage enumvalue color variable, [1], [2], [3], [4] colorMap variable colormap variable, [1], [2], [3] colorMapMinCoord variable colorMode variable computeMLSSurface function computePublishResidual function considerInvalidRangesAsFreeSpace variable contains function, [1], [2], [3], [4], [5] contents_summary function, [1] convergence_max_orientation_sigma_deg variable convergence_max_position_sigma variable copy_only_test class corrected_poses variable count function, [1], [2], [3], [4], [5] countNearby function cov2cov_alpha variable cov2cov_auto_balance_with_prior variable cov_inv variable covariance function covariance_params variable create_robust_kernel function create_subwindow function, [1] create_subwindow_from_description function, [1] current_georeferencing function current_observation_color_by_field variable currentEstimateForRobust variable custom_allocator class custom_allocator::rebind struct

D

datasetGetObservations function, [1], [2], [3], [4], [5], [6], [7] datasetSize function, [1], [2], [3], [4], [5], [6], [7] datasetUI_lastQueriedTimestep function, [1], [2], [3], [4], [5], [6], [7], [8], [9] datasetUI_size function, [1], [2], [3], [4], [5], [6], [7], [8], [9] datasetUI_teleport function, [1], [2], [3], [4], [5], [6], [7], [8], [9] debugFileNameFormat variable decimate_method variable DecimateMethod enum decimation variable, [1], [2], [3], [4], [5] decimationDebugFiles variable decimationIterationDetails variable default_pointcloud_class variable defaultPointSigma variable define BOOST_TEST_MODULE ENSURE_YAML_ENTRY_EXISTS MOLA_ARG_N MOLA_METRIC_MAPS_HAS_KFM_POSE_PLUMBING MOLA_POSE_LIST_HAS_ID_KEYED_API MOLA_POSE_LIST_HAS_KFM_POSE_PLUMBING MOLA_RSEQ_N MOLA_VERSION_CHECK MOLA_VFUNC MOLA_VFUNC_ TSL_RH_CHECK_THROW TSL_RH_VERSION_MAJOR VFUNC YAML_LOAD_MEMBER_OPT YAML_LOAD_MEMBER_REQ YAML_LOAD_OPT YAML_LOAD_OPT2 YAML_LOAD_OPT3 YAML_LOAD_OPT_DEG YAML_LOAD_OPT_DEG2 YAML_LOAD_OPT_DEG3 YAML_LOAD_REQ YAML_LOAD_REQ2 YAML_LOAD_REQ3 YAML_LOAD_REQ_DEG YAML_LOAD_REQ_DEG2 YAML_LOAD_REQ_DEG3

deltaTime variable, [1] Deprecated List page deserialize function, [1] deserializer class DiagnosticLevel enum display variable distance variable DISTINCT_CLOUD enumvalue distinct_cloud_layer variable do_process_gnss_labels_re variable, [1] do_process_imu_labels_re variable, [1] do_process_odometry_labels_re variable, [1] doCmdRuns variable doEnvVars variable doFilter function doIncludes variable drainEvictedKeyFrameIDs function dropped_ratio_warn variable

E

EarliestIsZero enumvalue eigVals variable emplace function, [1] emplace_hint function, [1] empty function enabled variable, [1], [2] enqueue_custom_gui_code function, [1] enqueue_custom_nanogui_code function, [1] enqueue_request function ENSURE_YAML_ENTRY_EXISTS define enu_frame_name variable enum AlignKind DecimateMethod DiagnosticLevel InitLocalization InputMode IterTermReason KinematicModel Method MotionCompensationMethod ProjectionMethod RobustKernel TimestampAdjustMethod UpsamplingMethod enumvalue Cauchy Censi3D ClosestToAverage DISTINCT_CLOUD EarliestIsZero FirstPoint FixedPose FromStateEstimator GemanMcClure IMU IMUh IMUt InverseHessian Linear MiddleIsZero None, [1], [2] NONE Normalize PitchAndRollFromIMU RandomPoint SIMPLE VoxelAverage

equal_range function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] equals function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10] erase function, [1], [2], [3], [4], [5], [6] erase_fast function, [1] eraseGridsFartherThan function error_on_missing_input_layer variable, [1] errors struct estimate_geo_reference variable estimate_points_eigen function estimated_georef_published variable estimated_navstate function, [1], [2] estimated_T_enu_to_map function estimated_T_map_to_odometry_frame function estimated_trajectory function estimatedPitchRoll function estimatedTrajectory function estimateGlobalCorrection function estimateGravityVector function estimateGravityVectorOverWindow function estimatePerKFCorrection function eval_centroids_robust function evaluate function, [1], [2], [3] evaluateError function execute_custom_code_on_background_scene function, [1] execution_rate variable expected_g_mps2 variable expected_observation_labels variable expression function, [1], [2], [3], [4] external_georef variable

F

FactorAngularVelocityIntegration function, [1] FactorAngularVelocityIntegrationPose function, [1] FactorConstLocalVelocity function FactorConstLocalVelocityPose function FactorGnssEnu function, [1] FactorGnssMapEnu function, [1] FactorTrapezoidalIntegrator function, [1] FactorTrapezoidalIntegratorPose function, [1] FactorTricycleKinematic function, [1] Factory function fail_if_input_layer_does_not_exist variable fid_t typedef field_names variable filter function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26] filter_pipeline_from_yaml function filterOutPointsAtZero variable FilterPipeline typedef finalPairings variable find function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] find_best_poses_se2 function findModuleSharedDir function findService function FirstPoint enumvalue fixed_geo_reference variable fixed_maximum_intensity variable fixed_minimum_intensity variable fixed_width variable, [1], [2] FixedPose enumvalue flatten_to variable floor_sigma_angles variable floor_sigma_xyz variable force_alpha_channel variable force_final_pairings_for_quality variable forward_ros_tf_as_mola_odometry_observations variable from_state_estimator_max_orientation_sigma_deg variable from_state_estimator_max_position_sigma variable from_state_estimator_timeout variable FromStateEstimator enumvalue FromYAML function function AbsFactorConstVelKinematics AbsFactorTricycleKinematics add add_imu_gravity_factors addPathModuleLibs addPathModuleSources addViewVectors_scalar align apply_filter_pipeline apply_generators applyPivotTransform, [1] asString, [1], [2], [3], [4], [5] at, [1], [2], [3], [4], [5] attachToDataConsumer BOOST_AUTO_TEST_CASE, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24] BOOST_AUTO_TEST_CASE_TEMPLATE boundingBox, [1], [2], [3], [4] bucket_entry bucket_for_hash buildCache clear, [1], [2], [3], [4], [5] clear_all_point_clouds_with_decay, [1] clone, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10] cloneKFPoses computeMLSSurface computePublishResidual contains, [1], [2], [3], [4], [5] contents_summary, [1] count, [1], [2], [3], [4], [5] countNearby covariance create_robust_kernel create_subwindow, [1] create_subwindow_from_description, [1] current_georeferencing datasetGetObservations, [1], [2], [3], [4], [5], [6], [7] datasetSize, [1], [2], [3], [4], [5], [6], [7] datasetUI_lastQueriedTimestep, [1], [2], [3], [4], [5], [6], [7], [8], [9] datasetUI_size, [1], [2], [3], [4], [5], [6], [7], [8], [9] datasetUI_teleport, [1], [2], [3], [4], [5], [6], [7], [8], [9] deserialize, [1] doFilter drainEvictedKeyFrameIDs emplace, [1] emplace_hint, [1] empty enqueue_custom_gui_code, [1] enqueue_custom_nanogui_code, [1] enqueue_request equal_range, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] equals, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10] erase, [1], [2], [3], [4], [5], [6] erase_fast, [1] eraseGridsFartherThan estimate_points_eigen estimated_navstate, [1], [2] estimated_T_enu_to_map estimated_T_map_to_odometry_frame estimated_trajectory estimatedPitchRoll estimatedTrajectory estimateGlobalCorrection estimateGravityVector estimateGravityVectorOverWindow estimatePerKFCorrection eval_centroids_robust evaluate, [1], [2], [3] evaluateError execute_custom_code_on_background_scene, [1] expression, [1], [2], [3], [4] FactorAngularVelocityIntegration, [1] FactorAngularVelocityIntegrationPose, [1] FactorConstLocalVelocity FactorConstLocalVelocityPose FactorGnssEnu, [1] FactorGnssMapEnu, [1] FactorTrapezoidalIntegrator, [1] FactorTrapezoidalIntegratorPose, [1] FactorTricycleKinematic, [1] Factory filter, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26] filter_pipeline_from_yaml find, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] find_best_poses_se2 findModuleSharedDir findService FromYAML fuse_gnss, [1], [2] fuse_imu, [1], [2] fuse_odometry, [1], [2] fuse_pose, [1], [2] fuse_twist, [1], [2] generators_from_yaml get_current_extrapolated_stamp get_loaded_modules, [1] get_sensor_rates get_shared_from_this get_shared_from_this_or_clone get_subwindow_handle, [1] get_visualization, [1] get_visualization_cov2cov get_visualization_lines get_visualization_map_layer get_visualization_planes get_visualization_points get_visualization_pt2ln get_visualization_pt2pl get_visualization_pt2pt getAsPtr getAsSimplePointsMap, [1], [2] getDiagnostics, [1] getGroundTruthTrajectory, [1], [2], [3], [4] getLoadedModules getModuleLibPaths getModuleParameters getModuleSourcePaths getObservationGroup getPointCloud, [1], [2] getViz globalIdxToCoord, [1], [2], [3] gridByOuterIdxs gui_backend, [1] has_converged_localization, [1] hasGroundTruthTrajectory, [1], [2], [3], [4], [5] HashedSetSE3 HashedVoxelPointCloud icp_cleanup, [1] icp_get_prepared_as_global, [1] icp_pipeline_from_yaml id initialize, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26], [27], [28] initialize_derived initialize_frontend initialize_matchers initialize_quality_evaluators initialize_rds initialize_solvers insert insert_point_cloud_with_decay, [1] insertPoint, [1], [2], [3] insertPose internal_load_lib_modules, [1] isEmpty, [1], [2], [3], [4] KeyframePointCloudMap keyframePoses, [1] known_odometry_frame_ids lastEstimatedState lastInsertedKeyFrameID launchOrderPriority layer load_from load_from_file, [1] load_xyz_file load_yaml_file loadFrom, [1] LoadFromFile map_load, [1] map_save, [1] MapToNN MapToNP MapToPointsMap markWindowForReLayout match max_bucket_count mean MeasuredGravityFactor merge_with, [1] min_load_factor, [1] mutable_iterator, [1] NDT ndt ndt_is_plane next_bucket_count nextFreeKeyFrameID_public nn_search_cov2cov olae_build_linear_system oldestActiveKeyframeID, [1] onKeyframeDropped onNewKeyframe onNewKeyframeRaw onNewObservation, [1], [2], [3], [4], [5] onQuit open_file_dialog, [1] operator(), [1], [2], [3], [4] operator<< operator>> optimal_pose optimal_tf_gauss_newton optimal_tf_horn optimal_tf_olae outerIdxToCoord output_console_message, [1] overloaded parameters parse_yaml, [1] point_layer pointcloud pointcloud_sanity_check poll pollIntoDisplay pose, [1] Pose3RotationFactor pose_pdf_to_string_with_sigmas power_of_two_growth_policy print, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] process, [1] projectPointSimple pt2ln_pl_to_pt2pt push_back, [1] readFromStream, [1], [2], [3], [4] rebake, [1] reconstructedMap relocalize_from_gnss, [1] relocalize_near_pose_pdf, [1] reset, [1], [2], [3] resetLikelihoodCache resizeGrid rotationFromGravity run_matchers run_solvers save_to_file, [1] saveMetricMapRepresentationToFile, [1], [2], [3], [4] saveToTextFile, [1], [2], [3], [4] scanAndLoadLibraries scanForModuleSharedDirectories serialize, [1] set set_menu_bar, [1] setConfiguration, [1] setGridProperties setKeyframePose, [1] setPoseById setSize setup setVoxelProperties, [1], [2], [3] shutdown simplemap_georeference simplemap_to_metricmap size, [1], [2], [3] size_points_only SparseTreesPointCloud SparseVoxelPointCloud spin spinOnce, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16] subscribeToMapUpdates subwindow_grid_layout, [1] subwindow_move_resize, [1] subwindow_update_visualization, [1] ToYAML transform_map_left_multiply, [1] tricycleKinematicModel update_3d_object, [1] update_velocity_buffer_from_obs update_viewport_camera_azimuth, [1] update_viewport_camera_orthographic, [1] update_viewport_look_at, [1] vector_of_points_to_xyz visit_correspondences voxelByCoords, [1], [2], [3] voxelByGlobalIdxs, [1], [2], [3] warn_on_field_padding_mismatch writeToStream, [1], [2], [3], [4] yaml_to_string

functor_before_logging_local variable functor_should_generate_debug_file variable fuse_gnss function, [1], [2] fuse_imu function, [1], [2] fuse_odometry function, [1], [2] fuse_pose function, [1], [2] fuse_twist function, [1], [2]

G

GemanMcClure enumvalue generate_lazy_load_scan_files variable generate_view_vector variable generateDebugFiles variable generators_from_yaml function GeneratorSet typedef geo_coord variable, [1] geo_ref variable geo_reference variable geodeticReference variable georeferencing variable, [1], [2] get_current_extrapolated_stamp function get_loaded_modules function, [1] get_sensor_rates function get_shared_from_this function get_shared_from_this_or_clone function get_subwindow_handle function, [1] get_visualization function, [1] get_visualization_cov2cov function get_visualization_lines function get_visualization_map_layer function get_visualization_planes function get_visualization_points function get_visualization_pt2ln function get_visualization_pt2pl function get_visualization_pt2pt function getAsPtr function getAsSimplePointsMap function, [1], [2] getDiagnostics function, [1]

getGroundTruthTrajectory function, [1], [2], [3], [4] getLoadedModules function getModuleLibPaths function getModuleParameters function getModuleSourcePaths function getObservationGroup function getPointCloud function, [1], [2] getViz function global namespace global_plain_index_t typedef, [1], [2], [3] globalIdxToCoord function, [1], [2], [3] globalPairedBitField variable gnss_huber_threshold variable gnss_nearby_keyframe_stamp_tolerance variable gnss_sensor_label variable gravity_vector variable gridByOuterIdxs function group mola-input-kitti-dataset. mola-input-kitti360-dataset. mola-input-mulran-dataset. mola-input-paris-luco-dataset. mola-launcher: Library to load and launch MOLA mola-relocalization mola-viz mola-yaml: YAML parsing helper functions mola_bridge_ros2 mola_input_euroc_dataset_grp. mola_input_rawlog_grp. mola_input_rosbag2_grp mola_input_video_grp. Mola_kernel_grp Mola_kernel_interfaces_grp mola_metric_maps mp2p_icp library mp2p_icp_filters library mp2p_icp_map library gtsam namespace gui_backend function, [1]

H

HandlersContainer struct hard_discard variable HARDLIMIT_MAX_POINTS_PER_VOXEL variable hardware_id variable has_converged_localization function, [1]

hasGroundTruthTrajectory function, [1], [2], [3], [4], [5] HashedSetSE3 function HashedVoxelPointCloud function huber_threshold_mps2 variable

I

icon_entypo variable icon_imgui variable icp_cleanup function, [1] icp_get_prepared_as_global function, [1] icp_pipeline variable icp_pipeline_from_yaml function icpIteration variable id function variable id_t typedef identity_hash class idxs variable ignore_accelerometer variable IMU enumvalue imu_attitude_azimuth_offset_deg variable imu_attitude_sigma_deg variable imu_initial_calibration_max_age variable imu_initial_calibration_sample_count variable imu_initializer variable imu_nearby_keyframe_stamp_tolerance variable imu_normalized_gravity_alignment_sigma variable imu_sensor_label variable imu_sensor_pose variable imu_sensor_pose_timestamp variable IMUh enumvalue IMUt enumvalue in_place variable includesBasePath variable initialize function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26], [27], [28] initialize_derived function

initialize_frontend function initialize_matchers function initialize_quality_evaluators function initialize_rds function initialize_solvers function InitLocalization enum innerLoopVerbose variable input_error_sec variable input_layer variable, [1] input_layer_in_local_coordinates variable input_pointcloud_layer variable, [1] input_stale_sec variable InputMode enum insert function insert_point_cloud_with_decay function, [1] insertPoint function, [1], [2], [3] insertPose function inside_pointcloud_layer variable internal_load_lib_modules function, [1] INVALID_FID variable INVALID_ID variable InverseHessian enumvalue irls_iterations variable is_pair struct is_pair<std::pair<T1, T2>> struct isEmpty function, [1], [2], [3], [4] isPipelinesUsingIMU variable item_spacing variable IterTermReason enum

K

kDefaultAxisEps variable kdtree_leaf_max_points_ variable keep_last_one_only variable keep_original_cloud_color variable KeyFrameID typedef KeyframePointCloudMap function keyframePoses function, [1]

keyframes_axes_length variable kf_index variable, [1] kinematic_model variable KinematicModel enum known_odom_frames variable known_odometry_frame_ids function

L

label variable, [1], [2], [3], [4] last_deskewed_observations_color_by_field variable last_deskewed_scan_for_publishing variable last_estimated_frames variable last_estimated_states variable last_lidar_pose variable last_obs_reception_time variable last_observed_scan_period_sec variable lastEstimatedState function lastInsertedKeyFrameID function launchOrderPriority function layer function layer_matches variable layers variable lbPlaybackPosition variable length variable lengths variable lidar_count variable lidar_sensor_labels variable lidarIdx variable Linear enumvalue

linearizationPoint variable lines variable link_first_pose_to_reference_origin_sigma variable literals namespace live_text variable ln2ln variable load_existing_local_map variable load_existing_simple_map variable load_from function load_from_file function, [1] load_xyz_file function load_yaml_file function loaded_lib_handled variable LoadedModules struct loadFrom function, [1] LoadFromFile function local_map_colormap_color_by_field variable local_map_needs_viz_update variable localmap_check_removal_counter variable localPairedBitField variable

M

map variable map_load function, [1] map_metadata variable map_name variable map_save function, [1] map_update_decimation variable MapToNN function MapToNP function MapToPointsMap function markWindowForReLayout function match function match_mean variable math namespace max_age_seconds variable max_bucket_count function max_corr_distance variable, [1], [2], [3] max_distance_to_keep_keyframes variable max_kf_acc_std_mps2 variable max_overall_points variable max_points_per_kf variable max_points_per_voxel variable, [1], [2] max_search_keyframes variable max_time_offset variable max_time_to_use_velocity_model variable, [1] max_view_angle_deg variable maxCost variable maxDistanceInsertion variable maxFreenessInvalidRanges variable maxFreenessUpdateCertainty variable maxInnerLoopIterations variable maxIterations variable maxOccupancyUpdateCertainty variable mean function mean_k variable, [1] measure_from_last_kf_only variable, [1] MeasuredGravityFactor function merge_with function, [1] message variable metadata variable Method enum method variable, [1], [2], [3] metric_l_infinity variable metric_map_definition variable metric_map_definition_ini_file variable MiddleIsZero enumvalue min_distance_between_points variable, [1] min_icp_goodness variable min_keyframes variable min_load_factor function, [1] min_motion_model_xyz_cov_inv variable min_nearby_poses_occupied variable, [1] min_neighbors_for_fit variable min_rotation_between_keyframes variable, [1] min_time_between_scans variable min_translation_between_keyframes variable, [1] minAbsStep_rot variable minAbsStep_trans variable minDelta variable minimum_input_points_per_voxel variable minimum_input_points_to_filter variable minimum_observation_count variable minimum_points_clearance variable minimum_points_per_voxel variable MLSResult struct mod_hash class module mola-launcher mola namespace mola-cli mola-dir mola-input-kitti-dataset. group mola-input-kitti360-dataset. group mola-input-mulran-dataset. group mola-input-paris-luco-dataset. group mola-launcher module mola-launcher: Library to load and launch MOLA group mola-relocalization group mola-viz group mola-yaml-parser mola-yaml: YAML parsing helper functions group mola::AddGNSSFactorParams struct mola::AddIMUGravityFactorParams struct mola::BinFileDataset class mola::BridgeROS2 class mola::BridgeROS2::CachedLocalizationTf struct mola::BridgeROS2::MolaSubs struct mola::BridgeROS2::Params struct mola::Dataset_UI class mola::detail namespace mola::DiagnosticKeyValue struct mola::DiagnosticsProvider class mola::DiagnosticStatusMsg struct mola::EurocDataset class mola::ExecutableBase class mola::ExecutableBase::DiagnosticsOutput struct mola::factors namespace mola::factors::FactorAngularVelocityIntegration class mola::factors::FactorAngularVelocityIntegrationPose class mola::factors::FactorConstLocalVelocity class mola::factors::FactorConstLocalVelocityPose class mola::factors::FactorGnssEnu class mola::factors::FactorGnssMapEnu class mola::factors::FactorTrapezoidalIntegrator class mola::factors::FactorTrapezoidalIntegratorPose class mola::factors::FactorTricycleKinematic class mola::factors::MeasuredGravityFactor class mola::factors::Pose3RotationFactor class mola::FilterBase class mola::FixedDenseGrid3D class mola::FrameGNSS struct mola::FrameIMUAcc struct mola::FrontEndBase class mola::Georeferencing struct mola::GNSSFrames struct mola::GravityMapAligner class mola::GravityMapAligner::KFAccSample struct mola::GravityMapAligner::Params struct mola::gui namespace mola::gui::Button struct mola::gui::CheckBox struct mola::gui::ComboBox struct mola::gui::Label struct mola::gui::LiveString struct mola::gui::Menu struct mola::gui::MenuBar struct mola::gui::MenuItem struct mola::gui::Row struct mola::gui::Separator struct mola::gui::SliderFloat struct mola::gui::SliderInt struct mola::gui::Tab struct mola::gui::TextBox struct mola::gui::TextPanel struct mola::gui::WindowDescription struct mola::HashedSetSE3 class mola::HashedSetSE3::VoxelData struct mola::HashedVoxelPointCloud class mola::HashedVoxelPointCloud::CachedData struct mola::HashedVoxelPointCloud::TInsertionOptions struct mola::HashedVoxelPointCloud::TLikelihoodOptions struct mola::HashedVoxelPointCloud::TRenderOptions struct mola::HashedVoxelPointCloud::VoxelData struct mola::HashedVoxelPointCloud::VoxelData::PointSpan struct mola::imu namespace mola::imu::TrajectoryPoint struct mola::IMUAccFrames struct mola::index3d_hash struct mola::index3d_t struct mola::index_se3_t struct mola::index_se3_t_hash struct mola::KeyframeMapCapable class mola::KeyframePointCloudMap class mola::KeyframePointCloudMap::CachedData struct mola::KeyframePointCloudMap::KeyFrame class mola::KeyframePointCloudMap::TCreationOptions struct mola::KeyframePointCloudMap::TInsertionOptions struct mola::KeyframePointCloudMap::TLikelihoodOptions struct mola::KeyframePointCloudMap::TRenderOptions struct mola::Kitti360Dataset class mola::KittiOdometryDataset class mola::LidarOdometry class mola::LidarOdometry::ICP_Input struct mola::LidarOdometry::ICP_Output struct mola::LidarOdometry::MethodState struct mola::LidarOdometry::MethodState::GravityEstimator struct mola::LidarOdometry::MethodState::GravityEstimator::TimestampedAcc struct mola::LidarOdometry::Parameters struct mola::LidarOdometry::Parameters::AdaptiveThreshold struct mola::LidarOdometry::Parameters::Diagnostics struct mola::LidarOdometry::Parameters::ICP_case struct mola::LidarOdometry::Parameters::IMUGravityCorrection struct mola::LidarOdometry::Parameters::InitialLocalizationOptions struct mola::LidarOdometry::Parameters::MapUpdateOptions struct mola::LidarOdometry::Parameters::MultipleLidarOptions struct mola::LidarOdometry::Parameters::ObservationValidityChecks struct mola::LidarOdometry::Parameters::SimpleMapOptions struct mola::LidarOdometry::Parameters::TraceOutputOptions struct mola::LidarOdometry::Parameters::TrajectoryOutputOptions struct mola::LidarOdometry::Parameters::Visualization struct mola::LidarOdometry::Parameters::Visualization::ModelPart struct mola::LidarOdometry::StateUI struct mola::LocalizationSourceBase class mola::LocalizationSourceBase::LocalizationUpdate struct mola::MapServer class mola::MapServer::ReturnStatus struct mola::MapSourceBase class mola::MapSourceBase::MapUpdate struct mola::MinimalModuleContainer class mola::MockDiagModule class mola::MolaLauncherApp class mola::MolaLauncherApp::InfoPerRunningThread struct mola::MolaLauncherApp::Parameters struct mola::MolaViz class mola::MolaViz::DataPerDatasetUI struct mola::MolaViz::DecayingCloud struct mola::MolaViz::PerWindowData struct mola::MulranDataset class mola::MulranDataset::Entry struct mola::NavState struct mola::NavStateFilter class mola::NDT class mola::NDT::CachedData struct mola::NDT::point_vector_t struct mola::NDT::TInsertionOptions struct mola::NDT::TLikelihoodOptions struct mola::NDT::TRenderOptions struct mola::NDT::VoxelData struct mola::NDT::VoxelData::PointSpan struct mola::OccGrid class mola::OccGrid::InsertionParameters struct mola::OccGrid::LikelihoodParameters struct mola::OfflineDatasetSource class mola::overloaded struct mola::ParisLucoDataset class mola::RawDataConsumer class mola::RawDataSourceBase class mola::RawDataSourceBase::SensorViewerImpl struct mola::RawlogDataset class mola::RegexCache class mola::Relocalization class mola::RelocalizationICP_SE2 struct mola::RelocalizationICP_SE2::Input struct

mola::RelocalizationICP_SE2::Input::InputLattice struct mola::RelocalizationICP_SE2::Input::OutputLattice struct mola::RelocalizationICP_SE2::Output struct mola::RelocalizationICP_SE2::ProgressFeedback struct mola::RelocalizationLikelihood_SE2 struct mola::RelocalizationLikelihood_SE2::Input struct mola::RelocalizationLikelihood_SE2::Output struct mola::Rosbag2Dataset class mola::Rosbag2Dataset::DatasetEntry struct mola::SearchablePoseList class mola::SensorCamera struct mola::SensorIMU struct mola::SMGeoReferencingOutput struct mola::SMGeoReferencingParams struct mola::SparseTreesPointCloud class mola::SparseTreesPointCloud::CachedData struct mola::SparseTreesPointCloud::GridData struct mola::SparseTreesPointCloud::TInsertionOptions struct mola::SparseTreesPointCloud::TLikelihoodOptions struct mola::SparseTreesPointCloud::TRenderOptions struct mola::SparseVoxelPointCloud class mola::SparseVoxelPointCloud::CachedData struct mola::SparseVoxelPointCloud::InnerGrid struct mola::SparseVoxelPointCloud::TInsertionOptions struct mola::SparseVoxelPointCloud::TLikelihoodOptions struct mola::SparseVoxelPointCloud::TRenderOptions struct mola::SparseVoxelPointCloud::VoxelData struct mola::SparseVoxelPointCloud::VoxelData::PointSpan struct mola::state_estimation_simple namespace mola::state_estimation_simple::Parameters class mola::state_estimation_simple::StateEstimationSimple class mola::state_estimation_simple::StateEstimationSimple::State struct mola::state_estimation_smoother namespace mola::state_estimation_smoother::Parameters class mola::state_estimation_smoother::Parameters::Visualization struct mola::state_estimation_smoother::StateEstimationSmoother class mola::state_estimation_smoother::StateEstimationSmoother::AbsFactorConstVelKinematics class mola::state_estimation_smoother::StateEstimationSmoother::AbsFactorTricycleKinematics class mola::state_estimation_smoother::StateEstimationSmoother::FrameState struct mola::state_estimation_smoother::StateEstimationSmoother::GtsamImpl struct mola::state_estimation_smoother::StateEstimationSmoother::State struct mola::Synchronizer class mola::Synchronizer::Parameters struct mola::TrajectoryRebaker class mola::TrajectoryRebaker::Result struct mola::VideoDataset class mola::VizInterface class mola::YAMLParseOptions struct MOLA_ARG_N define mola_bridge_ros2 group mola_input_euroc_dataset_grp. group mola_input_rawlog_grp. group mola_input_rosbag2_grp group mola_input_video_grp. group Mola_kernel_grp group Mola_kernel_interfaces_grp group mola_metric_maps group MOLA_METRIC_MAPS_HAS_KFM_POSE_PLUMBING define MOLA_POSE_LIST_HAS_ID_KEYED_API define MOLA_POSE_LIST_HAS_KFM_POSE_PLUMBING define MOLA_RSEQ_N define MOLA_VERSION_CHECK define MOLA_VFUNC define MOLA_VFUNC_ define MotionCompensationMethod enum move_only_test class mp2p_icp namespace mp2p_icp library group mp2p_icp::color_mode_t struct mp2p_icp::CovarianceParameters struct mp2p_icp::ICP class mp2p_icp::ICP::ICP_State struct mp2p_icp::ICP::IterationHook_Input struct mp2p_icp::ICP::IterationHook_Output struct mp2p_icp::ICP::QualityEvaluatorEntry struct mp2p_icp::IcpPrepareCapable class mp2p_icp::LogRecord class mp2p_icp::LogRecord::DebugInfoPerIteration struct mp2p_icp::MatchContext struct mp2p_icp::matched_line_t struct mp2p_icp::matched_plane_t struct mp2p_icp::Matcher class mp2p_icp::Matcher_Adaptive class mp2p_icp::Matcher_Cov2Cov class mp2p_icp::Matcher_Point2Line class mp2p_icp::Matcher_Point2Plane class mp2p_icp::Matcher_Points_Base class mp2p_icp::Matcher_Points_Base::TransformedLocalPointCloud struct mp2p_icp::Matcher_Points_DistanceThreshold class mp2p_icp::Matcher_Points_InlierRatio class mp2p_icp::MatchState struct mp2p_icp::metric_map_t class mp2p_icp::metric_map_t::Georeferencing struct mp2p_icp::MetricMapMergeCapable class mp2p_icp::NearestPlaneCapable class mp2p_icp::NearestPlaneCapable::NearestPlaneResult struct mp2p_icp::NearestPointWithCovCapable class mp2p_icp::OptimalTF_GN_Parameters struct mp2p_icp::OptimalTF_Result struct mp2p_icp::OutlierIndices struct mp2p_icp::Pairings struct mp2p_icp::pairings_render_params_t struct mp2p_icp::PairWeights struct mp2p_icp::Parameters struct mp2p_icp::plane_patch_t struct mp2p_icp::point_line_pair_t struct mp2p_icp::point_plane_pair_t struct mp2p_icp::point_with_cov_pair_t struct mp2p_icp::pointcloud_bitfield_t struct mp2p_icp::pointcloud_bitfield_t::DenseOrSparseBitField struct mp2p_icp::PointCloudEigen struct mp2p_icp::QualityEvaluator class mp2p_icp::QualityEvaluator::Result struct mp2p_icp::QualityEvaluator_PairedRatio class mp2p_icp::QualityEvaluator_RangeImageSimilarity class mp2p_icp::QualityEvaluator_Voxels class mp2p_icp::render_params_lines_t struct mp2p_icp::render_params_pairings_cov2cov_t struct mp2p_icp::render_params_pairings_pt2ln_t struct mp2p_icp::render_params_pairings_pt2pl_t struct mp2p_icp::render_params_pairings_pt2pt_t struct mp2p_icp::render_params_planes_t struct mp2p_icp::render_params_point_layer_t struct mp2p_icp::render_params_points_t struct mp2p_icp::render_params_t struct mp2p_icp::Results struct mp2p_icp::Solver class mp2p_icp::Solver_GaussNewton class mp2p_icp::Solver_Horn class mp2p_icp::Solver_OLAE class mp2p_icp::SolverContext struct mp2p_icp::VisitCorrespondencesStats struct mp2p_icp::WeightParameters struct mp2p_icp_filters namespace mp2p_icp_filters library group mp2p_icp_filters::FilterAbsoluteTimestamp class mp2p_icp_filters::FilterAbsoluteTimestamp::Parameters struct mp2p_icp_filters::FilterAdjustTimestamps class mp2p_icp_filters::FilterAdjustTimestamps::Parameters struct mp2p_icp_filters::FilterBase class mp2p_icp_filters::FilterBoundingBox class mp2p_icp_filters::FilterBoundingBox::Parameters struct mp2p_icp_filters::FilterByExpression class mp2p_icp_filters::FilterByExpression::Parameters struct mp2p_icp_filters::FilterByIntensity class mp2p_icp_filters::FilterByIntensity::Parameters struct mp2p_icp_filters::FilterByRange class mp2p_icp_filters::FilterByRange::Parameters struct mp2p_icp_filters::FilterByRing class mp2p_icp_filters::FilterByRing::Parameters struct mp2p_icp_filters::FilterClear class mp2p_icp_filters::FilterClear::Parameters struct mp2p_icp_filters::FilterCurvature class mp2p_icp_filters::FilterCurvature::Parameters struct mp2p_icp_filters::FilterDecimate class mp2p_icp_filters::FilterDecimate::Parameters struct mp2p_icp_filters::FilterDecimateAdaptive class mp2p_icp_filters::FilterDecimateAdaptive::Impl struct mp2p_icp_filters::FilterDecimateAdaptive::Parameters struct mp2p_icp_filters::FilterDecimateVoxels class mp2p_icp_filters::FilterDecimateVoxels::Parameters struct mp2p_icp_filters::FilterDeleteLayer class mp2p_icp_filters::FilterDeleteLayer::Parameters struct mp2p_icp_filters::FilterDeskew class mp2p_icp_filters::FilterEdgesPlanes class mp2p_icp_filters::FilterEdgesPlanes::Parameters struct mp2p_icp_filters::FilterFartherPointSampling class mp2p_icp_filters::FilterFartherPointSampling::Parameters struct mp2p_icp_filters::FilterMerge class mp2p_icp_filters::FilterMerge::Parameters struct mp2p_icp_filters::FilterMLS class mp2p_icp_filters::FilterMLS::Impl struct mp2p_icp_filters::FilterMLS::Impl::ThreadWorkspace struct mp2p_icp_filters::FilterMLS::Parameters struct mp2p_icp_filters::FilterNormalizeIntensity class mp2p_icp_filters::FilterNormalizeIntensity::Parameters struct mp2p_icp_filters::FilterPoleDetector class mp2p_icp_filters::FilterPoleDetector::Parameters struct mp2p_icp_filters::FilterRemoveByVoxelOccupancy class mp2p_icp_filters::FilterRemoveByVoxelOccupancy::Parameters struct mp2p_icp_filters::FilterRemovePointCloudField class mp2p_icp_filters::FilterRemovePointCloudField::Parameters struct mp2p_icp_filters::FilterRenameLayer class mp2p_icp_filters::FilterRenameLayer::Parameters struct mp2p_icp_filters::FilterSOR class mp2p_icp_filters::FilterSOR::Parameters struct mp2p_icp_filters::FilterVoxelSlice class mp2p_icp_filters::FilterVoxelSlice::Parameters struct mp2p_icp_filters::FilterVoxelSOR class mp2p_icp_filters::FilterVoxelSOR::Parameters struct mp2p_icp_filters::Generator class mp2p_icp_filters::Generator::Parameters struct mp2p_icp_filters::GeneratorEdgesFromCurvature class mp2p_icp_filters::GeneratorEdgesFromCurvature::ParametersEdges struct mp2p_icp_filters::GeneratorEdgesFromRangeImage class mp2p_icp_filters::GeneratorEdgesFromRangeImage::ParametersEdges struct mp2p_icp_filters::internal namespace mp2p_icp_filters::NotImplementedError struct mp2p_icp_filters::PointCloudToVoxelGrid class mp2p_icp_filters::PointCloudToVoxelGrid::Impl struct mp2p_icp_filters::PointCloudToVoxelGrid::indices_t struct mp2p_icp_filters::PointCloudToVoxelGrid::IndicesHash struct mp2p_icp_filters::PointCloudToVoxelGrid::Parameters struct mp2p_icp_filters::PointCloudToVoxelGrid::voxel_t struct mp2p_icp_filters::PointCloudToVoxelGridSingle class mp2p_icp_filters::PointCloudToVoxelGridSingle::Impl struct mp2p_icp_filters::PointCloudToVoxelGridSingle::indices_t struct mp2p_icp_filters::PointCloudToVoxelGridSingle::IndicesHash struct mp2p_icp_filters::PointCloudToVoxelGridSingle::voxel_t struct mp2p_icp_filters::sm2mm_options_t struct mp2p_icp_map library group mrpt namespace mrpt::config namespace mrpt::containers namespace mrpt::maps namespace mrpt::obs namespace mrpt::rtti namespace mrpt::serialization namespace mrpt::system namespace mutable_iterator function, [1]

N

n_samples variable name variable, [1], [2] nameServer_ variable namespace global gtsam literals math mola mola::detail mola::factors mola::gui mola::imu mola::state_estimation_simple mola::state_estimation_smoother mp2p_icp mp2p_icp_filters mp2p_icp_filters::internal mrpt mrpt::config mrpt::containers mrpt::maps mrpt::obs mrpt::rtti mrpt::serialization mrpt::system nanogui rosbag2_cpp rosbag2_cpp::readers rosbag2_storage std string_literals tf2 tsl tsl::detail_robin_hash tsl::rh tsl::rh::detail

nanogui namespace nb_custom_allocs variable NDT function ndt function ndt_is_plane function next_bucket_count function next_frame_index variable next_odom_frame_id variable nextFreeKeyFrameID_public function nIterations variable nn_search_cov2cov function NONE enumvalue None enumvalue, [1], [2] Normalize enumvalue num_diverse_keyframes variable

O

odom_frame variable odometry_as_robot_pose_observation variable olae_build_linear_system function OLAE_LinearSystems struct oldestActiveKeyframeID function, [1] on_change variable, [1], [2] onKeyframeDropped function onNewKeyframe function onNewKeyframeRaw function onNewObservation function, [1], [2], [3], [4], [5] onQuit function open_file_dialog function, [1] operator() function, [1], [2], [3], [4] operator<< function operator>> function optimal_pose function optimal_tf variable optimal_tf_gauss_newton function optimal_tf_horn function optimal_tf_olae function optimalPose variable optimalScale variable optimize_twist variable

outerIdxToCoord function outliers variable output_console_message function, [1] output_field_name variable output_file variable, [1] output_layer variable, [1] output_layer_between variable output_layer_class variable, [1] output_layer_high_intensity variable output_layer_larger_curvature variable output_layer_low_intensity variable output_layer_mid_intensity variable output_layer_no_poles variable output_layer_non_selected variable output_layer_other variable output_layer_outside variable output_layer_poles variable output_layer_selected variable output_layer_smaller_curvature variable output_pointcloud_layer variable, [1] outside_pointcloud_layer variable overloaded function

P

page Bibliography Deprecated List Todo List pair_weights variable paired_pt2pt variable pairing variable pairingsWeightParameters variable, [1] parallelization_grain_size variable, [1], [2], [3] parameter_source variable parameters function params variable, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22] params_ variable parse_yaml function, [1] pcGlobal variable penalty_not_visible variable percent_print_progress variable perLayer variable PitchAndRollFromIMU enumvalue pl2pl variable planes variable planes_target_layer variable point_layer function point_weights variable pointcloud function pointcloud_layer variable, [1] pointcloud_layer_to_remove variable pointcloud_sanity_check function pointCount variable points_already_global variable points_colormap variable points_per_batch variable pointSize variable poll function pollIntoDisplay function

polynomial_order variable pose function, [1] variable, [1] Pose3RotationFactor function pose_pdf_to_string_with_sigmas function position variable potential_pairings variable power_of_two_growth_policy function print function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] prior variable, [1], [2] process function, [1] process_class_names_regex variable process_sensor_labels_regex variable profiler_ variable, [1] profiler_dtor_save_stats_ variable, [1] projection_method variable ProjectionMethod enum projectPointSimple function pt2ln variable pt2ln_pl_to_pt2pt function pt2pl variable pt2pt variable publish_estimated_georef_on_convergence variable publish_geo_referenced_poses_from_slam variable publish_in_sim_time variable publish_localization_following_rep105 variable publish_map_updates_every_n variable publish_odometry_msgs_from_slam variable publish_reference_frame variable publish_tf_from_robot_pose_observations variable publish_tf_from_slam variable publish_vehicle_frame variable push_back function, [1]

Q

quality variable, [1], [2]

quality_checkpoints variable

R

RandomPoint enumvalue range_min variable rangeCamera variable readFromStream function, [1], [2], [3], [4] rebake function, [1] recent_gnss_stamps variable recent_imu_stamps variable recent_lidar_stamps variable recolorByPointField variable, [1], [2], [3], [4] recolorizeByField variable reconstructedMap function reference_frame variable, [1], [2] reference_frame_name variable relocalize_from_gnss function, [1] relocalize_from_topic variable relocalize_near_pose_pdf function, [1] remove_frames_farther_than variable

remove_submaps_farther_than variable remove_voxels_farther_than variable, [1] reset function, [1], [2], [3] resetLikelihoodCache function resizeGrid function robin_pg_map typedef robin_pg_set typedef robot_pose variable, [1] RobustKernel enum rosbag2_cpp namespace rosbag2_cpp::readers namespace rosbag2_storage namespace rotation_distance_weight variable rotationFromGravity function run_matchers function run_solvers function runUpToIteration variable, [1]

S

save_deskewed_scans variable save_final_local_map variable save_final_map_to_file variable save_gnss_max_age variable save_to_file function, [1] saveIterationDetails variable saveMetricMapRepresentationToFile function, [1], [2], [3], [4] saveToTextFile function, [1], [2], [3], [4] scale variable scale_outlier_threshold variable scanAndLoadLibraries function scanForModuleSharedDirectories function search_radius variable self_reference_member_test class serialize function, [1] serializer class set function set_menu_bar function, [1] setConfiguration function, [1] setGridProperties function setKeyframePose function, [1] setPoseById function setSize function setup function setVoxelProperties function, [1], [2], [3] shortcut variable show_ground_grid variable show_last_deskewed_observations_decay variable show_localmap variable show_mean_only variable shutdown function sigma_deg variable sigma_dist variable, [1], [2], [3] silently_ignore_no_timestamps variable, [1] SIMPLE enumvalue simplemap_georeference function simplemap_to_metricmap function size function, [1], [2], [3] variable size_pixels variable size_points_only function sliding_window_length variable slz_size_type typedef SparseTreesPointCloud function SparseVoxelPointCloud function spin function spinOnce function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16] SSO_MAX_POINTS_PER_VOXEL variable stamp2frame_index variable starts_hidden variable std namespace std::hash<copy_only_test> struct std::hash<move_only_test> struct std::hash<self_reference_member_test> struct std_dev_mul variable, [1] step_counter_post_relocalization variable string_literals namespace struct Cli custom_allocator::rebind errors HandlersContainer is_pair is_pair<std::pair<T1, T2>> LoadedModules MLSResult mola::AddGNSSFactorParams mola::AddIMUGravityFactorParams mola::BridgeROS2::CachedLocalizationTf mola::BridgeROS2::MolaSubs mola::BridgeROS2::Params mola::DiagnosticKeyValue mola::DiagnosticStatusMsg mola::ExecutableBase::DiagnosticsOutput mola::FrameGNSS mola::FrameIMUAcc mola::Georeferencing mola::GNSSFrames mola::GravityMapAligner::KFAccSample mola::GravityMapAligner::Params mola::gui::Button mola::gui::CheckBox mola::gui::ComboBox mola::gui::Label mola::gui::LiveString mola::gui::Menu mola::gui::MenuBar mola::gui::MenuItem mola::gui::Row mola::gui::Separator mola::gui::SliderFloat mola::gui::SliderInt mola::gui::Tab mola::gui::TextBox mola::gui::TextPanel mola::gui::WindowDescription mola::HashedSetSE3::VoxelData mola::HashedVoxelPointCloud::CachedData mola::HashedVoxelPointCloud::TInsertionOptions mola::HashedVoxelPointCloud::TLikelihoodOptions mola::HashedVoxelPointCloud::TRenderOptions mola::HashedVoxelPointCloud::VoxelData mola::HashedVoxelPointCloud::VoxelData::PointSpan mola::imu::TrajectoryPoint mola::IMUAccFrames mola::index3d_hash mola::index3d_t mola::index_se3_t mola::index_se3_t_hash mola::KeyframePointCloudMap::CachedData mola::KeyframePointCloudMap::TCreationOptions mola::KeyframePointCloudMap::TInsertionOptions mola::KeyframePointCloudMap::TLikelihoodOptions mola::KeyframePointCloudMap::TRenderOptions mola::LidarOdometry::ICP_Input mola::LidarOdometry::ICP_Output mola::LidarOdometry::MethodState mola::LidarOdometry::MethodState::GravityEstimator mola::LidarOdometry::MethodState::GravityEstimator::TimestampedAcc mola::LidarOdometry::Parameters mola::LidarOdometry::Parameters::AdaptiveThreshold mola::LidarOdometry::Parameters::Diagnostics mola::LidarOdometry::Parameters::ICP_case mola::LidarOdometry::Parameters::IMUGravityCorrection mola::LidarOdometry::Parameters::InitialLocalizationOptions mola::LidarOdometry::Parameters::MapUpdateOptions mola::LidarOdometry::Parameters::MultipleLidarOptions mola::LidarOdometry::Parameters::ObservationValidityChecks mola::LidarOdometry::Parameters::SimpleMapOptions mola::LidarOdometry::Parameters::TraceOutputOptions mola::LidarOdometry::Parameters::TrajectoryOutputOptions mola::LidarOdometry::Parameters::Visualization mola::LidarOdometry::Parameters::Visualization::ModelPart mola::LidarOdometry::StateUI mola::LocalizationSourceBase::LocalizationUpdate mola::MapServer::ReturnStatus mola::MapSourceBase::MapUpdate mola::MolaLauncherApp::InfoPerRunningThread mola::MolaLauncherApp::Parameters mola::MolaViz::DataPerDatasetUI mola::MolaViz::DecayingCloud mola::MolaViz::PerWindowData mola::MulranDataset::Entry mola::NavState mola::NDT::CachedData mola::NDT::point_vector_t mola::NDT::TInsertionOptions mola::NDT::TLikelihoodOptions mola::NDT::TRenderOptions mola::NDT::VoxelData mola::NDT::VoxelData::PointSpan mola::OccGrid::InsertionParameters mola::OccGrid::LikelihoodParameters mola::overloaded mola::RawDataSourceBase::SensorViewerImpl mola::RelocalizationICP_SE2 mola::RelocalizationICP_SE2::Input mola::RelocalizationICP_SE2::Input::InputLattice mola::RelocalizationICP_SE2::Input::OutputLattice mola::RelocalizationICP_SE2::Output mola::RelocalizationICP_SE2::ProgressFeedback mola::RelocalizationLikelihood_SE2 mola::RelocalizationLikelihood_SE2::Input mola::RelocalizationLikelihood_SE2::Output mola::Rosbag2Dataset::DatasetEntry mola::SensorCamera mola::SensorIMU mola::SMGeoReferencingOutput mola::SMGeoReferencingParams mola::SparseTreesPointCloud::CachedData mola::SparseTreesPointCloud::GridData mola::SparseTreesPointCloud::TInsertionOptions mola::SparseTreesPointCloud::TLikelihoodOptions mola::SparseTreesPointCloud::TRenderOptions mola::SparseVoxelPointCloud::CachedData mola::SparseVoxelPointCloud::InnerGrid mola::SparseVoxelPointCloud::TInsertionOptions mola::SparseVoxelPointCloud::TLikelihoodOptions mola::SparseVoxelPointCloud::TRenderOptions mola::SparseVoxelPointCloud::VoxelData mola::SparseVoxelPointCloud::VoxelData::PointSpan mola::state_estimation_simple::StateEstimationSimple::State mola::state_estimation_smoother::Parameters::Visualization mola::state_estimation_smoother::StateEstimationSmoother::FrameState mola::state_estimation_smoother::StateEstimationSmoother::GtsamImpl mola::state_estimation_smoother::StateEstimationSmoother::State mola::Synchronizer::Parameters mola::TrajectoryRebaker::Result mola::YAMLParseOptions mp2p_icp::color_mode_t mp2p_icp::CovarianceParameters mp2p_icp::ICP::ICP_State mp2p_icp::ICP::IterationHook_Input mp2p_icp::ICP::IterationHook_Output mp2p_icp::ICP::QualityEvaluatorEntry mp2p_icp::LogRecord::DebugInfoPerIteration mp2p_icp::MatchContext mp2p_icp::matched_line_t mp2p_icp::matched_plane_t mp2p_icp::Matcher_Points_Base::TransformedLocalPointCloud mp2p_icp::MatchState mp2p_icp::metric_map_t::Georeferencing mp2p_icp::NearestPlaneCapable::NearestPlaneResult mp2p_icp::OptimalTF_GN_Parameters mp2p_icp::OptimalTF_Result mp2p_icp::OutlierIndices mp2p_icp::Pairings mp2p_icp::pairings_render_params_t mp2p_icp::PairWeights mp2p_icp::Parameters mp2p_icp::plane_patch_t mp2p_icp::point_line_pair_t mp2p_icp::point_plane_pair_t mp2p_icp::point_with_cov_pair_t mp2p_icp::pointcloud_bitfield_t mp2p_icp::pointcloud_bitfield_t::DenseOrSparseBitField mp2p_icp::PointCloudEigen mp2p_icp::QualityEvaluator::Result mp2p_icp::render_params_lines_t mp2p_icp::render_params_pairings_cov2cov_t mp2p_icp::render_params_pairings_pt2ln_t mp2p_icp::render_params_pairings_pt2pl_t mp2p_icp::render_params_pairings_pt2pt_t mp2p_icp::render_params_planes_t mp2p_icp::render_params_point_layer_t mp2p_icp::render_params_points_t mp2p_icp::render_params_t mp2p_icp::Results mp2p_icp::SolverContext mp2p_icp::VisitCorrespondencesStats mp2p_icp::WeightParameters mp2p_icp_filters::FilterAbsoluteTimestamp::Parameters mp2p_icp_filters::FilterAdjustTimestamps::Parameters mp2p_icp_filters::FilterBoundingBox::Parameters mp2p_icp_filters::FilterByExpression::Parameters mp2p_icp_filters::FilterByIntensity::Parameters mp2p_icp_filters::FilterByRange::Parameters mp2p_icp_filters::FilterByRing::Parameters mp2p_icp_filters::FilterClear::Parameters mp2p_icp_filters::FilterCurvature::Parameters mp2p_icp_filters::FilterDecimate::Parameters mp2p_icp_filters::FilterDecimateAdaptive::Impl mp2p_icp_filters::FilterDecimateAdaptive::Parameters mp2p_icp_filters::FilterDecimateVoxels::Parameters mp2p_icp_filters::FilterDeleteLayer::Parameters mp2p_icp_filters::FilterEdgesPlanes::Parameters mp2p_icp_filters::FilterFartherPointSampling::Parameters mp2p_icp_filters::FilterMerge::Parameters mp2p_icp_filters::FilterMLS::Impl mp2p_icp_filters::FilterMLS::Impl::ThreadWorkspace mp2p_icp_filters::FilterMLS::Parameters mp2p_icp_filters::FilterNormalizeIntensity::Parameters mp2p_icp_filters::FilterPoleDetector::Parameters mp2p_icp_filters::FilterRemoveByVoxelOccupancy::Parameters mp2p_icp_filters::FilterRemovePointCloudField::Parameters mp2p_icp_filters::FilterRenameLayer::Parameters mp2p_icp_filters::FilterSOR::Parameters mp2p_icp_filters::FilterVoxelSlice::Parameters mp2p_icp_filters::FilterVoxelSOR::Parameters mp2p_icp_filters::Generator::Parameters mp2p_icp_filters::GeneratorEdgesFromCurvature::ParametersEdges mp2p_icp_filters::GeneratorEdgesFromRangeImage::ParametersEdges mp2p_icp_filters::NotImplementedError mp2p_icp_filters::PointCloudToVoxelGrid::Impl mp2p_icp_filters::PointCloudToVoxelGrid::indices_t mp2p_icp_filters::PointCloudToVoxelGrid::IndicesHash mp2p_icp_filters::PointCloudToVoxelGrid::Parameters mp2p_icp_filters::PointCloudToVoxelGrid::voxel_t mp2p_icp_filters::PointCloudToVoxelGridSingle::Impl mp2p_icp_filters::PointCloudToVoxelGridSingle::indices_t mp2p_icp_filters::PointCloudToVoxelGridSingle::IndicesHash mp2p_icp_filters::PointCloudToVoxelGridSingle::voxel_t mp2p_icp_filters::sm2mm_options_t OLAE_LinearSystems std::hash<copy_only_test> std::hash<move_only_test> std::hash<self_reference_member_test> tsl::detail_robin_hash::has_is_transparent tsl::detail_robin_hash::has_is_transparent<T, typename make_void<typename T::is_transparent>::type> tsl::detail_robin_hash::is_power_of_two_policy tsl::detail_robin_hash::is_power_of_two_policy<tsl::rh::power_of_two_growth_policy<GrowthFactor>> tsl::detail_robin_hash::make_void VoxelEntry

subscribeToMapUpdates function subwindow_grid_layout function, [1] subwindow_move_resize function, [1] subwindow_update_visualization function, [1] supported sensors sync_obs variable synchronization_tolerance variable

T

T_enu_to_map variable, [1] tabs variable target_layer variable, [1] target_max_size variable tentative_geo_coord_reference variable test_types typedef, [1], [2] text variable tf2 namespace threshold variable throw_on_missing_field variable time_between_frames_to_warning variable time_cost variable, [1] time_offset variable timestamp variable, [1], [2], [3] TimestampAdjustMethod enum timestep_t typedef timing_utilization_warn variable Todo List page ToYAML function TraitsTest class trajectory_t typedef transform_map_left_multiply function, [1] transform_publish_period variable transform_tolerance variable tricycleKinematicModel function tsl namespace tsl::detail_robin_hash namespace tsl::detail_robin_hash::bucket_entry class tsl::detail_robin_hash::bucket_entry_hash class

tsl::detail_robin_hash::bucket_entry_hash<true> class tsl::detail_robin_hash::has_is_transparent struct tsl::detail_robin_hash::has_is_transparent<T, typename make_void<typename T::is_transparent>::type> struct tsl::detail_robin_hash::is_power_of_two_policy struct tsl::detail_robin_hash::is_power_of_two_policy<tsl::rh::power_of_two_growth_policy<GrowthFactor>> struct tsl::detail_robin_hash::make_void struct tsl::detail_robin_hash::robin_hash class tsl::detail_robin_hash::robin_hash::robin_iterator class tsl::rh namespace tsl::rh::detail namespace tsl::rh::mod_growth_policy class tsl::rh::power_of_two_growth_policy class tsl::rh::prime_growth_policy class tsl::robin_map class tsl::robin_map::KeySelect class tsl::robin_map::ValueSelect class tsl::robin_set class tsl::robin_set::KeySelect class TSL_RH_CHECK_THROW define TSL_RH_VERSION_MAJOR define twist variable, [1], [2] twist_inv_cov variable typedef fid_t FilterPipeline GeneratorSet global_plain_index_t, [1], [2], [3] id_t KeyFrameID robin_pg_map robin_pg_set slz_size_type test_types, [1], [2] timestep_t trajectory_t Yaml

U

update_3d_object function, [1] update_velocity_buffer_from_obs function update_viewport_camera_azimuth function, [1] update_viewport_camera_orthographic function, [1] update_viewport_look_at function, [1] upsampling_method variable UpsamplingMethod enum

use_imu_orientation variable use_scale_outlier_detector variable use_tsl_robin_map variable, [1] use_view_direction_filter variable useIMUGravityAlignment variable utils class

V

values variable variable a_body a_body_std active add_non_keyframes_too addHorizontalityConstraints additional_isam2_update_steps allLayers allowMatchAlreadyMatchedGlobalPoints_ allowMatchAlreadyMatchedPoints_ anchor_id assumed_sensor_rate_hz_ autoBoundingBoxOutliersPercentile averaging_samples axis_eps B BACKEND_IMGUI BACKEND_NANOGUI base_footprint_frame base_footprint_to_base_link_tf base_link_frame bias_acc bias_gyro bounding_box bounding_box_intersection_check_epsilon bounding_box_intersection_check_epsilon_ CACHE_MISS_VALUE cachedPoints center check_for_removal_every_n child_frame color, [1], [2], [3], [4] colormap, [1], [2], [3] colorMap colorMapMinCoord colorMode considerInvalidRangesAsFreeSpace convergence_max_orientation_sigma_deg convergence_max_position_sigma corrected_poses cov2cov_alpha cov2cov_auto_balance_with_prior cov_inv covariance_params current_observation_color_by_field currentEstimateForRobust debugFileNameFormat decimate_method decimation, [1], [2], [3], [4], [5] decimationDebugFiles decimationIterationDetails default_pointcloud_class defaultPointSigma deltaTime, [1] display distance distinct_cloud_layer do_process_gnss_labels_re, [1] do_process_imu_labels_re, [1] do_process_odometry_labels_re, [1] doCmdRuns doEnvVars doIncludes dropped_ratio_warn eigVals enabled, [1], [2] enu_frame_name error_on_missing_input_layer, [1] estimate_geo_reference estimated_georef_published execution_rate expected_g_mps2 expected_observation_labels external_georef fail_if_input_layer_does_not_exist field_names filterOutPointsAtZero finalPairings fixed_geo_reference fixed_maximum_intensity fixed_minimum_intensity fixed_width, [1], [2] flatten_to floor_sigma_angles floor_sigma_xyz force_alpha_channel force_final_pairings_for_quality forward_ros_tf_as_mola_odometry_observations from_state_estimator_max_orientation_sigma_deg from_state_estimator_max_position_sigma from_state_estimator_timeout functor_before_logging_local functor_should_generate_debug_file generate_lazy_load_scan_files generate_view_vector generateDebugFiles geo_coord, [1] geo_ref geo_reference geodeticReference georeferencing, [1], [2] globalPairedBitField gnss_huber_threshold gnss_nearby_keyframe_stamp_tolerance gnss_sensor_label gravity_vector hard_discard HARDLIMIT_MAX_POINTS_PER_VOXEL hardware_id huber_threshold_mps2 icon_entypo icon_imgui icp_pipeline icpIteration id idxs ignore_accelerometer imu_attitude_azimuth_offset_deg imu_attitude_sigma_deg imu_initial_calibration_max_age imu_initial_calibration_sample_count imu_initializer imu_nearby_keyframe_stamp_tolerance imu_normalized_gravity_alignment_sigma imu_sensor_label imu_sensor_pose imu_sensor_pose_timestamp in_place includesBasePath innerLoopVerbose input_error_sec input_layer, [1] input_layer_in_local_coordinates input_pointcloud_layer, [1] input_stale_sec inside_pointcloud_layer INVALID_FID INVALID_ID irls_iterations isPipelinesUsingIMU item_spacing kDefaultAxisEps kdtree_leaf_max_points_ keep_last_one_only keep_original_cloud_color keyframes_axes_length kf_index, [1] kinematic_model known_odom_frames label, [1], [2], [3], [4] last_deskewed_observations_color_by_field last_deskewed_scan_for_publishing last_estimated_frames last_estimated_states last_lidar_pose last_obs_reception_time last_observed_scan_period_sec layer_matches layers lbPlaybackPosition length lengths lidar_count lidar_sensor_labels lidarIdx linearizationPoint lines link_first_pose_to_reference_origin_sigma live_text ln2ln load_existing_local_map load_existing_simple_map loaded_lib_handled local_map_colormap_color_by_field local_map_needs_viz_update localmap_check_removal_counter localPairedBitField map map_metadata map_name map_update_decimation match_mean max_age_seconds max_corr_distance, [1], [2], [3] max_distance_to_keep_keyframes max_kf_acc_std_mps2 max_overall_points max_points_per_kf max_points_per_voxel, [1], [2] max_search_keyframes max_time_offset max_time_to_use_velocity_model, [1] max_view_angle_deg maxCost maxDistanceInsertion maxFreenessInvalidRanges maxFreenessUpdateCertainty maxInnerLoopIterations maxIterations maxOccupancyUpdateCertainty mean_k, [1] measure_from_last_kf_only, [1] message metadata method, [1], [2], [3] metric_l_infinity metric_map_definition metric_map_definition_ini_file min_distance_between_points, [1] min_icp_goodness min_keyframes min_motion_model_xyz_cov_inv min_nearby_poses_occupied, [1] min_neighbors_for_fit min_rotation_between_keyframes, [1] min_time_between_scans min_translation_between_keyframes, [1] minAbsStep_rot minAbsStep_trans minDelta minimum_input_points_per_voxel minimum_input_points_to_filter minimum_observation_count minimum_points_clearance minimum_points_per_voxel n_samples name, [1], [2] nameServer_ nb_custom_allocs next_frame_index next_odom_frame_id nIterations num_diverse_keyframes odom_frame odometry_as_robot_pose_observation on_change, [1], [2] optimal_tf optimalPose optimalScale optimize_twist outliers output_field_name output_file, [1] output_layer, [1] output_layer_between output_layer_class, [1] output_layer_high_intensity output_layer_larger_curvature output_layer_low_intensity output_layer_mid_intensity output_layer_no_poles output_layer_non_selected output_layer_other output_layer_outside output_layer_poles output_layer_selected output_layer_smaller_curvature output_pointcloud_layer, [1] outside_pointcloud_layer pair_weights paired_pt2pt pairing pairingsWeightParameters, [1] parallelization_grain_size, [1], [2], [3] parameter_source params, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22] params_ pcGlobal penalty_not_visible percent_print_progress perLayer pl2pl planes planes_target_layer point_weights pointcloud_layer, [1] pointcloud_layer_to_remove pointCount points_already_global points_colormap points_per_batch pointSize polynomial_order pose, [1] position potential_pairings prior, [1], [2] process_class_names_regex process_sensor_labels_regex profiler_, [1] profiler_dtor_save_stats_, [1] projection_method pt2ln pt2pl pt2pt publish_estimated_georef_on_convergence publish_geo_referenced_poses_from_slam publish_in_sim_time publish_localization_following_rep105 publish_map_updates_every_n publish_odometry_msgs_from_slam publish_reference_frame publish_tf_from_robot_pose_observations publish_tf_from_slam publish_vehicle_frame quality, [1], [2] quality_checkpoints range_min rangeCamera recent_gnss_stamps recent_imu_stamps recent_lidar_stamps recolorByPointField, [1], [2], [3], [4] recolorizeByField reference_frame, [1], [2] reference_frame_name relocalize_from_topic remove_frames_farther_than remove_submaps_farther_than remove_voxels_farther_than, [1] robot_pose, [1] rotation_distance_weight runUpToIteration, [1] save_deskewed_scans save_final_local_map save_final_map_to_file save_gnss_max_age saveIterationDetails scale scale_outlier_threshold search_radius shortcut show_ground_grid show_last_deskewed_observations_decay show_localmap show_mean_only sigma_deg sigma_dist, [1], [2], [3] silently_ignore_no_timestamps, [1] size size_pixels sliding_window_length SSO_MAX_POINTS_PER_VOXEL stamp2frame_index starts_hidden std_dev_mul, [1] step_counter_post_relocalization sync_obs synchronization_tolerance T_enu_to_map, [1] tabs target_layer, [1] target_max_size tentative_geo_coord_reference text threshold throw_on_missing_field time_between_frames_to_warning time_cost, [1] time_offset timestamp, [1], [2], [3] timing_utilization_warn transform_publish_period transform_tolerance twist, [1], [2] twist_inv_cov upsampling_method use_imu_orientation use_scale_outlier_detector use_tsl_robin_map, [1] use_view_direction_filter useIMUGravityAlignment values variables vehicle_frame_name VERTICAL_ANGLE_OFFSET, [1] visible voxel_filter_resolution, [1] voxel_layer_name voxel_size waiting_for_state_estimator_since weight_pt2pt_layers wideningBeamsWithDistance win_pos window_length write_debug_icp_log_if_quality_under x_locals

variables variable vector_of_points_to_xyz function vehicle_frame_name variable VERTICAL_ANGLE_OFFSET variable, [1] VFUNC define visible variable visit_correspondences function voxel_filter_resolution variable, [1] voxel_layer_name variable voxel_size variable VoxelAverage enumvalue voxelByCoords function, [1], [2], [3] voxelByGlobalIdxs function, [1], [2], [3] VoxelEntry struct

W

waiting_for_state_estimator_since variable warn_on_field_padding_mismatch function weight_pt2pt_layers variable wideningBeamsWithDistance variable

win_pos variable window_length variable write_debug_icp_log_if_quality_under variable writeToStream function, [1], [2], [3], [4]

X

x_locals variable

Y

Yaml typedef YAML_LOAD_MEMBER_OPT define YAML_LOAD_MEMBER_REQ define YAML_LOAD_OPT define YAML_LOAD_OPT2 define YAML_LOAD_OPT3 define YAML_LOAD_OPT_DEG define YAML_LOAD_OPT_DEG2 define

YAML_LOAD_OPT_DEG3 define YAML_LOAD_REQ define YAML_LOAD_REQ2 define YAML_LOAD_REQ3 define YAML_LOAD_REQ_DEG define YAML_LOAD_REQ_DEG2 define YAML_LOAD_REQ_DEG3 define yaml_to_string function