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31 #include "rtabmap/core/rtabmap_core_export.h"
43 inline static float logodds(
double probability)
45 return (
float)
log(probability/(1-probability));
50 return 1. - ( 1. / (1. +
exp(logodds)));
56 bool update(
const std::map<int, Transform> & poses);
62 const std::map<int, Transform> &
addedNodes()
const {
return addedNodes_;}
64 void getGridMin(
double & x,
double & y)
const {
x=minValues_[0];
y=minValues_[1];}
65 void getGridMax(
double & x,
double & y)
const {
x=maxValues_[0];
y=maxValues_[1];}
66 void getGridMin(
double & x,
double & y,
double & z)
const {
x=minValues_[0];
y=minValues_[1];
z=minValues_[2];}
67 void getGridMax(
double & x,
double & y,
double & z)
const {
x=maxValues_[0];
y=maxValues_[1];
z=maxValues_[2];}
69 virtual unsigned long getMemoryUsed()
const;
74 virtual void assemble(
const std::list<std::pair<int, Transform> > & newPoses) = 0;
76 const std::map<int, LocalGrid> &
cache()
const {
return cache_->localGrids();}
78 const std::map<int, Transform> &
assembledNodes()
const {
return addedNodes_;}
80 void addAssembledNode(
int id,
const Transform & pose);
std::map< int, Transform > addedNodes_
void getGridMin(double &x, double &y) const
static float logodds(double probability)
std::map< std::string, std::string > ParametersMap
const LocalGridCache * cache_
bool isNodeAssembled(int id)
void getGridMax(double &x, double &y) const
const std::map< int, Transform > & addedNodes() const
float logOddsClampingMin_
GLM_FUNC_DECL genType log(genType const &x)
static double probability(double logodds)
float getUpdateError() const
void getGridMax(double &x, double &y, double &z) const
const std::map< int, LocalGrid > & cache() const
float logOddsClampingMax_
float getCellSize() const
const std::map< int, Transform > & assembledNodes() const
GLM_FUNC_DECL genType exp(genType const &x)
void getGridMin(double &x, double &y, double &z) const
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:10