#include <CloudMap.h>
Public Member Functions | |
virtual void | clear () |
CloudMap (const LocalGridCache *cache, const ParametersMap ¶meters=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 ¶meters=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_ |
Definition at line 40 of file CloudMap.h.
rtabmap::CloudMap::CloudMap | ( | const LocalGridCache * | cache, |
const ParametersMap & | parameters = ParametersMap() |
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) |
Definition at line 41 of file CloudMap.cpp.
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protectedvirtual |
Implements rtabmap::GlobalMap.
Definition at line 57 of file CloudMap.cpp.
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virtual |
Reimplemented from rtabmap::GlobalMap.
Definition at line 49 of file CloudMap.cpp.
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inline |
Definition at line 49 of file CloudMap.h.
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inline |
Definition at line 47 of file CloudMap.h.
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inline |
Definition at line 48 of file CloudMap.h.
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virtual |
Reimplemented from rtabmap::GlobalMap.
Definition at line 134 of file CloudMap.cpp.
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private |
Definition at line 59 of file CloudMap.h.
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private |
Definition at line 57 of file CloudMap.h.
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private |
Definition at line 58 of file CloudMap.h.