rtabmap::graph Namespace Reference

Classes
class	G2OOptimizer
class	Node
class	Optimizer
struct	Order
class	TOROOptimizer
Typedefs
typedef std::pair< int, float >	Pair
Functions
std::list< std::pair< int, Transform > > RTABMAP_EXP	computePath (const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, int > &links, int from, int to, bool updateNewCosts=false)
float RTABMAP_EXP	computePathLength (const std::vector< std::pair< int, Transform > > &path, unsigned int fromIndex=0, unsigned int toIndex=0)
std::multimap< int, Link > ::iterator RTABMAP_EXP	findLink (std::multimap< int, Link > &links, int from, int to)
std::multimap< int, int > ::iterator RTABMAP_EXP	findLink (std::multimap< int, int > &links, int from, int to)
int RTABMAP_EXP	findNearestNode (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &targetPose)
std::map< int, float > RTABMAP_EXP	getNodesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius)
std::map< int, Transform > RTABMAP_EXP	getPosesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius)
std::multimap< int, int > RTABMAP_EXP	radiusPosesClustering (const std::map< int, Transform > &poses, float radius, float angle)
std::map< int, Transform > RTABMAP_EXP	radiusPosesFiltering (const std::map< int, Transform > &poses, float radius, float angle, bool keepLatest=true)

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Typedef Documentation

typedef std::pair<int, float> rtabmap::graph::Pair

Definition at line 1142 of file Graph.cpp.

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Function Documentation

std::list< std::pair< int, Transform > > rtabmap::graph::computePath	(	const std::map< int, rtabmap::Transform > &	poses,
		const std::multimap< int, int > &	links,
		int	from,
		int	to,
		bool	updateNewCosts = false
	)

Perform A* path planning in the graph.

Parameters:

poses	The graph's poses
links	The graph's links (from node id -> to node id)
from	initial node
to	final node
updateNewCosts	Keep up-to-date costs while traversing the graph.

Returns:

the path ids from id "from" to id "to" including initial and final nodes.

Definition at line 1151 of file Graph.cpp.

float rtabmap::graph::computePathLength	(	const std::vector< std::pair< int, Transform > > &	path,
		unsigned int	fromIndex = 0,
		unsigned int	toIndex = 0
	)

Definition at line 1392 of file Graph.cpp.

std::multimap< int, Link >::iterator rtabmap::graph::findLink	(	std::multimap< int, Link > &	links,
		int	from,
		int	to
	)

Definition at line 882 of file Graph.cpp.

std::multimap< int, int >::iterator rtabmap::graph::findLink	(	std::multimap< int, int > &	links,
		int	from,
		int	to
	)

Definition at line 910 of file Graph.cpp.

int rtabmap::graph::findNearestNode	(	const std::map< int, rtabmap::Transform > &	nodes,
		const rtabmap::Transform &	targetPose
	)

Definition at line 1250 of file Graph.cpp.

std::map< int, float > rtabmap::graph::getNodesInRadius	(	int	nodeId,
		const std::map< int, Transform > &	nodes,
		float	radius
	)

Get nodes near the query

Parameters:

nodeId	the query id
nodes	the nodes to search for
maxNearestNeighbors	Maximum nearest neighbor to get. 0 means all.
radius	radius to search for (m)

Returns:

the nodes with squared distance to query node.

Definition at line 1287 of file Graph.cpp.

std::map< int, Transform > rtabmap::graph::getPosesInRadius	(	int	nodeId,
		const std::map< int, Transform > &	nodes,
		float	radius
	)

Definition at line 1340 of file Graph.cpp.

std::multimap< int, int > rtabmap::graph::radiusPosesClustering	(	const std::map< int, Transform > &	poses,
		float	radius,
		float	angle
	)

Get all neighbor nodes in a fixed radius around each pose.

Parameters:

poses	The poses
radius	Radius (m) of the search for near neighbors
angle	Maximum angle (rad, [0,PI]) of accepted neighbor nodes in the radius (0 means ignore angle)

Returns:

A map between each pose id and its neighbors found in the radius

Definition at line 1046 of file Graph.cpp.

std::map< int, Transform > rtabmap::graph::radiusPosesFiltering	(	const std::map< int, Transform > &	poses,
		float	radius,
		float	angle,
		bool	keepLatest = true
	)

Get only the the most recent or older poses in the defined radius.

Parameters:

poses	The poses
radius	Radius (m) of the search for near neighbors
angle	Maximum angle (rad, [0,PI]) of accepted neighbor nodes in the radius (0 means ignore angle)
keepLatest	keep the latest node if true, otherwise the oldest node is kept

Returns:

A map containing only most recent or older poses in the the defined radius

Definition at line 938 of file Graph.cpp.