Classes | Typedefs | Functions
rtabmap::graph Namespace Reference

Classes

class  Node
struct  Order

Typedefs

typedef std::pair< int, float > Pair

Functions

std::list< std::pair< int,
Transform > > RTABMAP_EXP 
computePath (const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, int > &links, int from, int to, bool updateNewCosts=false)
std::list< int > RTABMAP_EXP computePath (const std::multimap< int, Link > &links, int from, int to, bool updateNewCosts=false, bool useSameCostForAllLinks=false)
std::list< std::pair< int,
Transform > > RTABMAP_EXP 
computePath (int fromId, int toId, const Memory *memory, bool lookInDatabase=true, bool updateNewCosts=false, float linearVelocity=0.0f, float angularVelocity=0.0f)
float RTABMAP_EXP computePathLength (const std::vector< std::pair< int, Transform > > &path, unsigned int fromIndex=0, unsigned int toIndex=0)
bool RTABMAP_EXP exportPoses (const std::string &filePath, int format, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints=std::multimap< int, Link >(), const std::map< int, double > &stamps=std::map< int, double >(), bool g2oRobust=false)
std::multimap< int, Link >
RTABMAP_EXP 
filterLinks (const std::multimap< int, Link > &links, Link::Type filteredType)
std::map< int, Link > RTABMAP_EXP filterLinks (const std::map< int, Link > &links, Link::Type filteredType)
std::multimap< int, Link >
::iterator RTABMAP_EXP 
findLink (std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true)
std::multimap< int, int >
::iterator RTABMAP_EXP 
findLink (std::multimap< int, int > &links, int from, int to, bool checkBothWays=true)
std::multimap< int, Link >
::const_iterator RTABMAP_EXP 
findLink (const std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true)
std::multimap< int, int >
::const_iterator RTABMAP_EXP 
findLink (const std::multimap< int, int > &links, int from, int to, bool checkBothWays=true)
int RTABMAP_EXP findNearestNode (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &targetPose)
std::map< int, Transform >
RTABMAP_EXP 
frustumPosesFiltering (const std::map< int, Transform > &poses, const Transform &cameraPose, float horizontalFOV=45.0f, float verticalFOV=45.0f, float nearClipPlaneDistance=0.1f, float farClipPlaneDistance=100.0f, bool negative=false)
std::map< int, float > RTABMAP_EXP getNodesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius)
std::list< std::map< int,
Transform > > RTABMAP_EXP 
getPaths (std::map< int, Transform > poses, const std::multimap< int, Link > &links)
std::map< int, Transform >
RTABMAP_EXP 
getPosesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
bool RTABMAP_EXP importPoses (const std::string &filePath, int format, std::map< int, Transform > &poses, std::multimap< int, Link > *constraints=0, std::map< int, double > *stamps=0)
std::multimap< int, int >
RTABMAP_EXP 
radiusPosesClustering (const std::map< int, Transform > &poses, float radius, float angle)
std::map< int, Transform >
RTABMAP_EXP 
radiusPosesFiltering (const std::map< int, Transform > &poses, float radius, float angle, bool keepLatest=true)
void reduceGraph (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, std::multimap< int, int > &hyperNodes, std::multimap< int, Link > &hyperLinks)

Typedef Documentation

typedef std::pair<int, float> rtabmap::graph::Pair

Definition at line 1038 of file Graph.cpp.


Function Documentation

std::list< std::pair< int, Transform > > rtabmap::graph::computePath ( const std::map< int, rtabmap::Transform > &  poses,
const std::multimap< int, int > &  links,
int  from,
int  to,
bool  updateNewCosts = false 
)

Perform A* path planning in the graph.

Parameters:
posesThe graph's poses
linksThe graph's links (from node id -> to node id)
frominitial node
tofinal node
updateNewCostsKeep up-to-date costs while traversing the graph.
Returns:
the path ids from id "from" to id "to" including initial and final nodes.

Definition at line 1048 of file Graph.cpp.

std::list< int > RTABMAP_EXP rtabmap::graph::computePath ( const std::multimap< int, Link > &  links,
int  from,
int  to,
bool  updateNewCosts = false,
bool  useSameCostForAllLinks = false 
)

Perform Dijkstra path planning in the graph.

Parameters:
posesThe graph's poses
linksThe graph's links (from node id -> to node id)
frominitial node
tofinal node
updateNewCostsKeep up-to-date costs while traversing the graph.
useSameCostForAllLinksIgnore distance between nodes
Returns:
the path ids from id "from" to id "to" including initial and final nodes.

Definition at line 1154 of file Graph.cpp.

std::list< std::pair< int, Transform > > rtabmap::graph::computePath ( int  fromId,
int  toId,
const Memory *  memory,
bool  lookInDatabase = true,
bool  updateNewCosts = false,
float  linearVelocity = 0.0f,
float  angularVelocity = 0.0f 
)

Perform Dijkstra path planning in the graph.

Parameters:
fromIdinitial node
toIdfinal node
memoryThe graph's memory
lookInDatabasecheck links in database
updateNewCostsKeep up-to-date costs while traversing the graph.
Returns:
the path ids from id "fromId" to id "toId" including initial and final nodes (Identity pose for the first node).

Definition at line 1256 of file Graph.cpp.

float rtabmap::graph::computePathLength ( const std::vector< std::pair< int, Transform > > &  path,
unsigned int  fromIndex = 0,
unsigned int  toIndex = 0 
)

Definition at line 1623 of file Graph.cpp.

bool rtabmap::graph::exportPoses ( const std::string &  filePath,
int  format,
const std::map< int, Transform > &  poses,
const std::multimap< int, Link > &  constraints = std::multimap<int, Link>(),
const std::map< int, double > &  stamps = std::map<int, double>(),
bool  g2oRobust = false 
)

Definition at line 52 of file Graph.cpp.

std::multimap< int, Link > rtabmap::graph::filterLinks ( const std::multimap< int, Link > &  links,
Link::Type  filteredType 
)

Definition at line 564 of file Graph.cpp.

std::map< int, Link > rtabmap::graph::filterLinks ( const std::map< int, Link > &  links,
Link::Type  filteredType 
)

Definition at line 579 of file Graph.cpp.

std::multimap< int, Link >::iterator rtabmap::graph::findLink ( std::multimap< int, Link > &  links,
int  from,
int  to,
bool  checkBothWays = true 
)

Definition at line 437 of file Graph.cpp.

std::multimap< int, int >::iterator rtabmap::graph::findLink ( std::multimap< int, int > &  links,
int  from,
int  to,
bool  checkBothWays = true 
)

Definition at line 469 of file Graph.cpp.

std::multimap< int, Link >::const_iterator rtabmap::graph::findLink ( const std::multimap< int, Link > &  links,
int  from,
int  to,
bool  checkBothWays = true 
)

Definition at line 500 of file Graph.cpp.

std::multimap< int, int >::const_iterator rtabmap::graph::findLink ( const std::multimap< int, int > &  links,
int  from,
int  to,
bool  checkBothWays = true 
)

Definition at line 532 of file Graph.cpp.

int rtabmap::graph::findNearestNode ( const std::map< int, rtabmap::Transform > &  nodes,
const rtabmap::Transform targetPose 
)

Definition at line 1465 of file Graph.cpp.

std::map< int, Transform > rtabmap::graph::frustumPosesFiltering ( const std::map< int, Transform > &  poses,
const Transform &  cameraPose,
float  horizontalFOV = 45.0f,
float  verticalFOV = 45.0f,
float  nearClipPlaneDistance = 0.1f,
float  farClipPlaneDistance = 100.0f,
bool  negative = false 
)

Definition at line 594 of file Graph.cpp.

std::map< int, float > rtabmap::graph::getNodesInRadius ( int  nodeId,
const std::map< int, Transform > &  nodes,
float  radius 
)

Get nodes near the query

Parameters:
nodeIdthe query id
nodesthe nodes to search for
radiusradius to search for (m)
Returns:
the nodes with squared distance to query node.

Definition at line 1502 of file Graph.cpp.

std::list< std::map< int, Transform > > rtabmap::graph::getPaths ( std::map< int, Transform >  poses,
const std::multimap< int, Link > &  links 
)

Definition at line 1649 of file Graph.cpp.

std::map< int, Transform > rtabmap::graph::getPosesInRadius ( int  nodeId,
const std::map< int, Transform > &  nodes,
float  radius,
float  angle = 0.0f 
)

Definition at line 1554 of file Graph.cpp.

bool rtabmap::graph::importPoses ( const std::string &  filePath,
int  format,
std::map< int, Transform > &  poses,
std::multimap< int, Link > *  constraints = 0,
std::map< int, double > *  stamps = 0 
)

Definition at line 166 of file Graph.cpp.

std::multimap< int, int > rtabmap::graph::radiusPosesClustering ( const std::map< int, Transform > &  poses,
float  radius,
float  angle 
)

Get all neighbor nodes in a fixed radius around each pose.

Parameters:
posesThe poses
radiusRadius (m) of the search for near neighbors
angleMaximum angle (rad, [0,PI]) of accepted neighbor nodes in the radius (0 means ignore angle)
Returns:
A map between each pose id and its neighbors found in the radius

Definition at line 755 of file Graph.cpp.

std::map< int, Transform > rtabmap::graph::radiusPosesFiltering ( const std::map< int, Transform > &  poses,
float  radius,
float  angle,
bool  keepLatest = true 
)

Get only the the most recent or older poses in the defined radius.

Parameters:
posesThe poses
radiusRadius (m) of the search for near neighbors
angleMaximum angle (rad, [0,PI]) of accepted neighbor nodes in the radius (0 means ignore angle)
keepLatestkeep the latest node if true, otherwise the oldest node is kept
Returns:
A map containing only most recent or older poses in the the defined radius

Definition at line 643 of file Graph.cpp.

void rtabmap::graph::reduceGraph ( const std::map< int, Transform > &  poses,
const std::multimap< int, Link > &  links,
std::multimap< int, int > &  hyperNodes,
std::multimap< int, Link > &  hyperLinks 
)

Definition at line 811 of file Graph.cpp.



rtabmap
Author(s): Mathieu Labbe
autogenerated on Sat Jul 23 2016 11:44:32