#include <GridMap.h>
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 ¶meters=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 ¶meters=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_ |
rtabmap::GridMap::GridMap | ( | const LocalGridCache * | cache, |
const ParametersMap & | parameters = ParametersMap() |
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) |
Definition at line 44 of file GridMap.cpp.
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protectedvirtual |
Implements rtabmap::GlobalMap.
Definition at line 179 of file GridMap.cpp.
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virtual |
Reimplemented from rtabmap::GlobalMap.
Definition at line 51 of file GridMap.cpp.
Definition at line 62 of file GridMap.cpp.
Definition at line 57 of file GridMap.cpp.
pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::GridMap::createTerrainCloud | ( | ) | const |
Definition at line 119 of file GridMap.cpp.
pcl::PolygonMesh::Ptr rtabmap::GridMap::createTerrainMesh | ( | ) | const |
Definition at line 161 of file GridMap.cpp.
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inline |
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private |
Definition at line 67 of file GridMap.cpp.