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

#include <GridMap.h>

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

Public Member Functions

virtual void clear ()
 
cv::Mat createColorMap (float &xMin, float &yMin, float &cellSize) const
 
cv::Mat createHeightMap (float &xMin, float &yMin, float &cellSize) const
 
pcl::PointCloud< pcl::PointXYZRGB >::Ptr createTerrainCloud () const
 
pcl::PolygonMesh::Ptr createTerrainMesh () const
 
const grid_map::GridMap & gridMap () const
 
 GridMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 
- 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
 
virtual unsigned long getMemoryUsed () 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 Member Functions

cv::Mat toImage (const std::string &layer, float &xMin, float &yMin, float &cellSize) const
 

Private Attributes

grid_map::GridMap gridMap_
 
float minMapSize_
 

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 42 of file GridMap.h.

Constructor & Destructor Documentation

◆ GridMap()

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

Definition at line 44 of file GridMap.cpp.

Member Function Documentation

◆ assemble()

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

Implements rtabmap::GlobalMap.

Definition at line 179 of file GridMap.cpp.

◆ clear()

void rtabmap::GridMap::clear ( )
virtual

Reimplemented from rtabmap::GlobalMap.

Definition at line 51 of file GridMap.cpp.

◆ createColorMap()

cv::Mat rtabmap::GridMap::createColorMap ( float xMin,
float yMin,
float cellSize 
) const

Definition at line 62 of file GridMap.cpp.

◆ createHeightMap()

cv::Mat rtabmap::GridMap::createHeightMap ( float xMin,
float yMin,
float cellSize 
) const

Definition at line 57 of file GridMap.cpp.

◆ createTerrainCloud()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::GridMap::createTerrainCloud ( ) const

Definition at line 119 of file GridMap.cpp.

◆ createTerrainMesh()

pcl::PolygonMesh::Ptr rtabmap::GridMap::createTerrainMesh ( ) const

Definition at line 161 of file GridMap.cpp.

◆ gridMap()

const grid_map::GridMap& rtabmap::GridMap::gridMap ( ) const
inline

Definition at line 49 of file GridMap.h.

◆ toImage()

cv::Mat rtabmap::GridMap::toImage ( const std::string layer,
float xMin,
float yMin,
float cellSize 
) const
private

Definition at line 67 of file GridMap.cpp.

Member Data Documentation

◆ gridMap_

grid_map::GridMap rtabmap::GridMap::gridMap_
private

Definition at line 63 of file GridMap.h.

◆ minMapSize_

float rtabmap::GridMap::minMapSize_
private

Definition at line 64 of file GridMap.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