Class MapsManager

Defined in File MapsManager.h

Class Documentation

class MapsManager

Public Functions

MapsManager()

virtual ~MapsManager()

void init(rclcpp::Node &node, const std::string &name, bool usePublicNamespace)

void clear()

bool hasSubscribers() const

void backwardCompatibilityParameters(rclcpp::Node &node, rtabmap::ParametersMap &parameters) const

void setParameters(const rtabmap::ParametersMap &parameters)

void set2DMap(const cv::Mat &map, float xMin, float yMin, float cellSize, const std::map<int, rtabmap::Transform> &poses, const rtabmap::Memory *memory = 0)

std::map<int, rtabmap::Transform> getFilteredPoses(const std::map<int, rtabmap::Transform> &poses)

std::map<int, rtabmap::Transform> updateMapCaches(const std::map<int, rtabmap::Transform> &poses, const rtabmap::Memory *memory, bool updateGrid, bool updateOctomap, const std::map<int, rtabmap::Signature> &signatures = std::map<int, rtabmap::Signature>())

void publishMaps(const std::map<int, rtabmap::Transform> &poses, const rclcpp::Time &stamp, const std::string &mapFrameId)

cv::Mat getGridMap(float &xMin, float &yMin, float &gridCellSize)

cv::Mat getGridProbMap(float &xMin, float &yMin, float &gridCellSize)

inline const rtabmap::OccupancyGrid *getOccupancyGrid() const