Class MapsManager

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
inline bool isLatching() const
bool isMapUpdated() 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
inline const rtabmap::LocalGridMaker *getLocalMapMaker() const