Struct LIO::Config

Nested Relationships

This struct is a nested type of Class LIO.

Struct Documentation

struct Config

Configuration parameters for odometry.

Public Members

bool deskew = true

Enable scan deskewing.

size_t max_iterations = 100

Maximum number of ICP iterations.

double voxel_size = 1.0

Size of voxel grid (m).

int max_points_per_voxel = 20

Max points per voxel.

double max_range = 100.0

Maximum lidar range (m).

double min_range = 1.0

Minimum lidar range (m).

double convergence_criterion = 1e-5

ICP convergence threshold.

double max_correspondance_distance = 0.5

Max distance for correspondences (m).

int max_num_threads = 0

Thread count for data association (0 = automatic).

bool initialization_phase = false

Enable initialization phase.

double max_expected_jerk = 3

Maximum expected jerk (m/s³).

bool double_downsample = true

Enable double downsampling.

double min_beta = 200

Minimum weight for orientation regularization.