slam toolbox *and* gmcl usage?

[tugbakara]

Hi, in this code , If I understand right, you check only covariance of the pose data and if it exceeds 5 just pass to slam toolbox only? Is that the only process of using them together? When I read readme I thought it was combining them to correct each other, but in the code just passing from gmcl to slamtoolbox only with a condition? Am I right or is there anywhere that I missed?