Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Private Attributes | List of all members
rtabmap::GlobalMap Class Referenceabstract

#include <GlobalMap.h>

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

Public Member Functions

const std::map< int, Transform > & addedNodes () const
 
virtual void clear ()
 
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
 
virtual unsigned long getMemoryUsed () const
 
float getUpdateError () const
 
bool update (const std::map< int, Transform > &poses)
 
virtual ~GlobalMap ()
 

Static Public Member Functions

static float logodds (double probability)
 
static double probability (double logodds)
 

Protected Member Functions

void addAssembledNode (int id, const Transform &pose)
 
virtual void assemble (const std::list< std::pair< int, Transform > > &newPoses)=0
 
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)
 

Protected Attributes

float cellSize_
 
float logOddsClampingMax_
 
float logOddsClampingMin_
 
float logOddsHit_
 
float logOddsMiss_
 
double maxValues_ [3]
 
double minValues_ [3]
 
float occupancyThr_
 
float updateError_
 

Private Attributes

std::map< int, TransformaddedNodes_
 
const LocalGridCachecache_
 

Detailed Description

Definition at line 40 of file GlobalMap.h.

Constructor & Destructor Documentation

◆ ~GlobalMap()

rtabmap::GlobalMap::~GlobalMap ( )
virtual

Definition at line 80 of file GlobalMap.cpp.

◆ GlobalMap()

rtabmap::GlobalMap::GlobalMap ( const LocalGridCache cache,
const ParametersMap parameters = ParametersMap() 
)
protected

Definition at line 34 of file GlobalMap.cpp.

Member Function Documentation

◆ addAssembledNode()

void rtabmap::GlobalMap::addAssembledNode ( int  id,
const Transform pose 
)
protected

Definition at line 160 of file GlobalMap.cpp.

◆ addedNodes()

const std::map<int, Transform>& rtabmap::GlobalMap::addedNodes ( ) const
inline

Definition at line 62 of file GlobalMap.h.

◆ assemble()

virtual void rtabmap::GlobalMap::assemble ( const std::list< std::pair< int, Transform > > &  newPoses)
protectedpure virtual

◆ assembledNodes()

const std::map<int, Transform>& rtabmap::GlobalMap::assembledNodes ( ) const
inlineprotected

Definition at line 78 of file GlobalMap.h.

◆ cache()

const std::map<int, LocalGrid>& rtabmap::GlobalMap::cache ( ) const
inlineprotected

Definition at line 76 of file GlobalMap.h.

◆ clear()

void rtabmap::GlobalMap::clear ( )
virtual

Reimplemented in rtabmap::OctoMap, rtabmap::GridMap, rtabmap::OccupancyGrid, and rtabmap::CloudMap.

Definition at line 85 of file GlobalMap.cpp.

◆ getCellSize()

float rtabmap::GlobalMap::getCellSize ( ) const
inline

Definition at line 60 of file GlobalMap.h.

◆ getGridMax() [1/2]

void rtabmap::GlobalMap::getGridMax ( double &  x,
double &  y 
) const
inline

Definition at line 65 of file GlobalMap.h.

◆ getGridMax() [2/2]

void rtabmap::GlobalMap::getGridMax ( double &  x,
double &  y,
double &  z 
) const
inline

Definition at line 67 of file GlobalMap.h.

◆ getGridMin() [1/2]

void rtabmap::GlobalMap::getGridMin ( double &  x,
double &  y 
) const
inline

Definition at line 64 of file GlobalMap.h.

◆ getGridMin() [2/2]

void rtabmap::GlobalMap::getGridMin ( double &  x,
double &  y,
double &  z 
) const
inline

Definition at line 66 of file GlobalMap.h.

◆ getMemoryUsed()

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

Reimplemented in rtabmap::OctoMap, rtabmap::OccupancyGrid, and rtabmap::CloudMap.

Definition at line 93 of file GlobalMap.cpp.

◆ getUpdateError()

float rtabmap::GlobalMap::getUpdateError ( ) const
inline

Definition at line 61 of file GlobalMap.h.

◆ isNodeAssembled()

bool rtabmap::GlobalMap::isNodeAssembled ( int  id)
inlineprotected

Definition at line 79 of file GlobalMap.h.

◆ logodds()

static float rtabmap::GlobalMap::logodds ( double  probability)
inlinestatic

Definition at line 43 of file GlobalMap.h.

◆ probability()

static double rtabmap::GlobalMap::probability ( double  logodds)
inlinestatic

Definition at line 48 of file GlobalMap.h.

◆ update()

bool rtabmap::GlobalMap::update ( const std::map< int, Transform > &  poses)

Definition at line 102 of file GlobalMap.cpp.

Member Data Documentation

◆ addedNodes_

std::map<int, Transform> rtabmap::GlobalMap::addedNodes_
private

Definition at line 97 of file GlobalMap.h.

◆ cache_

const LocalGridCache* rtabmap::GlobalMap::cache_
private

Definition at line 96 of file GlobalMap.h.

◆ cellSize_

float rtabmap::GlobalMap::cellSize_
protected

Definition at line 83 of file GlobalMap.h.

◆ logOddsClampingMax_

float rtabmap::GlobalMap::logOddsClampingMax_
protected

Definition at line 90 of file GlobalMap.h.

◆ logOddsClampingMin_

float rtabmap::GlobalMap::logOddsClampingMin_
protected

Definition at line 89 of file GlobalMap.h.

◆ logOddsHit_

float rtabmap::GlobalMap::logOddsHit_
protected

Definition at line 87 of file GlobalMap.h.

◆ logOddsMiss_

float rtabmap::GlobalMap::logOddsMiss_
protected

Definition at line 88 of file GlobalMap.h.

◆ maxValues_

double rtabmap::GlobalMap::maxValues_[3]
protected

Definition at line 93 of file GlobalMap.h.

◆ minValues_

double rtabmap::GlobalMap::minValues_[3]
protected

Definition at line 92 of file GlobalMap.h.

◆ occupancyThr_

float rtabmap::GlobalMap::occupancyThr_
protected

Definition at line 86 of file GlobalMap.h.

◆ updateError_

float rtabmap::GlobalMap::updateError_
protected

Definition at line 84 of file GlobalMap.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