Method sloam

sloam/src/core/sloam.cpp:6–12

{

  sloam::sloam()
  {
    // Initialize the map parameters
    T_Map_Anchor_ = SE3();
    firstScan_ = true;
    minPlanes_ = (fmParams_.groundRadiiBins*fmParams_.groundThetaBins)*0.1;
  }

  std::vector<Plane> sloam::getPrevGroundModel()
  {