Public Member Functions | Protected Member Functions | Private Attributes | List of all members
rtabmap::CloudMap Class Reference

#include <CloudMap.h>

Inheritance diagram for rtabmap::CloudMap:
Inheritance graph
[legend]

Public Member Functions

virtual void clear ()
 
 CloudMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 
const pcl::PointCloud< pcl::PointXYZ >::Ptr & getMapEmptyCells () const
 
const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & getMapGround () const
 
const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & getMapObstacles () const
 
unsigned long getMemoryUsed () const
 
- Public Member Functions inherited from rtabmap::GlobalMap
const std::map< int, Transform > & addedNodes () const
 
float getCellSize () const
 
void getGridMax (double &x, double &y) const
 
void getGridMax (double &x, double &y, double &z) const
 
void getGridMin (double &x, double &y) const
 
void getGridMin (double &x, double &y, double &z) const
 
float getUpdateError () const
 
bool update (const std::map< int, Transform > &poses)
 
virtual ~GlobalMap ()
 

Protected Member Functions

virtual void assemble (const std::list< std::pair< int, Transform > > &newPoses)
 
- Protected Member Functions inherited from rtabmap::GlobalMap
void addAssembledNode (int id, const Transform &pose)
 
const std::map< int, Transform > & assembledNodes () const
 
const std::map< int, LocalGrid > & cache () const
 
 GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 
bool isNodeAssembled (int id)
 

Private Attributes

pcl::PointCloud< pcl::PointXYZ >::Ptr assembledEmptyCells_
 
pcl::PointCloud< pcl::PointXYZRGB >::Ptr assembledGround_
 
pcl::PointCloud< pcl::PointXYZRGB >::Ptr assembledObstacles_
 

Additional Inherited Members

- Static Public Member Functions inherited from rtabmap::GlobalMap
static float logodds (double probability)
 
static double probability (double logodds)
 
- Protected Attributes inherited from rtabmap::GlobalMap
float cellSize_
 
float logOddsClampingMax_
 
float logOddsClampingMin_
 
float logOddsHit_
 
float logOddsMiss_
 
double maxValues_ [3]
 
double minValues_ [3]
 
float occupancyThr_
 
float updateError_
 

Detailed Description

Definition at line 40 of file CloudMap.h.

Constructor & Destructor Documentation

◆ CloudMap()

rtabmap::CloudMap::CloudMap ( const LocalGridCache cache,
const ParametersMap parameters = ParametersMap() 
)

Definition at line 41 of file CloudMap.cpp.

Member Function Documentation

◆ assemble()

void rtabmap::CloudMap::assemble ( const std::list< std::pair< int, Transform > > &  newPoses)
protectedvirtual

Implements rtabmap::GlobalMap.

Definition at line 57 of file CloudMap.cpp.

◆ clear()

void rtabmap::CloudMap::clear ( )
virtual

Reimplemented from rtabmap::GlobalMap.

Definition at line 49 of file CloudMap.cpp.

◆ getMapEmptyCells()

const pcl::PointCloud<pcl::PointXYZ>::Ptr& rtabmap::CloudMap::getMapEmptyCells ( ) const
inline

Definition at line 49 of file CloudMap.h.

◆ getMapGround()

const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& rtabmap::CloudMap::getMapGround ( ) const
inline

Definition at line 47 of file CloudMap.h.

◆ getMapObstacles()

const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& rtabmap::CloudMap::getMapObstacles ( ) const
inline

Definition at line 48 of file CloudMap.h.

◆ getMemoryUsed()

unsigned long rtabmap::CloudMap::getMemoryUsed ( ) const
virtual

Reimplemented from rtabmap::GlobalMap.

Definition at line 134 of file CloudMap.cpp.

Member Data Documentation

◆ assembledEmptyCells_

pcl::PointCloud<pcl::PointXYZ>::Ptr rtabmap::CloudMap::assembledEmptyCells_
private

Definition at line 59 of file CloudMap.h.

◆ assembledGround_

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rtabmap::CloudMap::assembledGround_
private

Definition at line 57 of file CloudMap.h.

◆ assembledObstacles_

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rtabmap::CloudMap::assembledObstacles_
private

Definition at line 58 of file CloudMap.h.


The documentation for this class was generated from the following files:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:27