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

#include <OccupancyGrid.h>

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

Public Member Functions

virtual void clear ()
 
cv::Mat getMap (float &xMin, float &yMin) const
 
unsigned long getMemoryUsed () const
 
float getMinMapSize () const
 
cv::Mat getProbMap (float &xMin, float &yMin) const
 
 OccupancyGrid (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 
void setMap (const cv::Mat &map, float xMin, float yMin, float cellSize, const std::map< int, Transform > &poses)
 
- 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

std::map< int, std::pair< int, int > > cellCount_
 
bool erode_
 
float footprintRadius_
 
cv::Mat map_
 
cv::Mat mapInfo_
 
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 40 of file global_map/OccupancyGrid.h.

Constructor & Destructor Documentation

◆ OccupancyGrid()

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

Definition at line 41 of file OccupancyGrid.cpp.

Member Function Documentation

◆ assemble()

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

Implements rtabmap::GlobalMap.

Definition at line 174 of file OccupancyGrid.cpp.

◆ clear()

void rtabmap::OccupancyGrid::clear ( )
virtual

Reimplemented from rtabmap::GlobalMap.

Definition at line 91 of file OccupancyGrid.cpp.

◆ getMap()

cv::Mat rtabmap::OccupancyGrid::getMap ( float xMin,
float yMin 
) const

Definition at line 99 of file OccupancyGrid.cpp.

◆ getMemoryUsed()

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

Reimplemented from rtabmap::GlobalMap.

Definition at line 674 of file OccupancyGrid.cpp.

◆ getMinMapSize()

float rtabmap::OccupancyGrid::getMinMapSize ( ) const
inline

Definition at line 45 of file global_map/OccupancyGrid.h.

◆ getProbMap()

cv::Mat rtabmap::OccupancyGrid::getProbMap ( float xMin,
float yMin 
) const

Definition at line 142 of file OccupancyGrid.cpp.

◆ setMap()

void rtabmap::OccupancyGrid::setMap ( const cv::Mat map,
float  xMin,
float  yMin,
float  cellSize,
const std::map< int, Transform > &  poses 
)

Definition at line 54 of file OccupancyGrid.cpp.

Member Data Documentation

◆ cellCount_

std::map<int, std::pair<int, int> > rtabmap::OccupancyGrid::cellCount_
private

Definition at line 60 of file global_map/OccupancyGrid.h.

◆ erode_

bool rtabmap::OccupancyGrid::erode_
private

Definition at line 63 of file global_map/OccupancyGrid.h.

◆ footprintRadius_

float rtabmap::OccupancyGrid::footprintRadius_
private

Definition at line 64 of file global_map/OccupancyGrid.h.

◆ map_

cv::Mat rtabmap::OccupancyGrid::map_
private

Definition at line 58 of file global_map/OccupancyGrid.h.

◆ mapInfo_

cv::Mat rtabmap::OccupancyGrid::mapInfo_
private

Definition at line 59 of file global_map/OccupancyGrid.h.

◆ minMapSize_

float rtabmap::OccupancyGrid::minMapSize_
private

Definition at line 62 of file global_map/OccupancyGrid.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