#include <Rtabmap.h>

Public Types
enum	VhStrategy { kVhNone, kVhEpipolar, kVhUndef }

Public Member Functions
void	adjustLikelihood (std::map< int, float > &likelihood) const

void	clearPath (int status)

void	close (bool databaseSaved=true, const std::string &ouputDatabasePath="")

bool	computePath (int targetNode, bool global)

bool	computePath (const Transform &targetPose, float tolerance=-1.0f)

void	deleteLastLocation ()

int	detectMoreLoopClosures (float clusterRadius=0.5f, float clusterAngle=M_PI/6.0f, int iterations=1, const ProgressState *state=0)

void	dumpData () const

void	dumpPrediction () const

void	exportPoses (const std::string &path, bool optimized, bool global, int format)

void	generateDOTGraph (const std::string &path, int id=0, int margin=5)

void	get3DMap (std::map< int, Signature > &signatures, std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global) const

std::map< int, Transform >	getForwardWMPoses (int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const

float	getGoalReachedRadius () const

void	getGraph (std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global, std::map< int, Signature > *signatures=0)

int	getHighestHypothesisId () const

float	getHighestHypothesisValue () const

const Transform &	getLastLocalizationPose () const

int	getLastLocationId () const

double	getLastProcessTime () const

const std::multimap< int, Link > &	getLocalConstraints () const

const std::map< int, Transform > &	getLocalOptimizedPoses () const

float	getLocalRadius () const

int	getLoopClosureId () const

float	getLoopClosureValue () const

Transform	getMapCorrection () const

const Memory *	getMemory () const

const ParametersMap &	getParameters () const

const std::vector< std::pair< int, Transform > > &	getPath () const

int	getPathCurrentGoalId () const

unsigned int	getPathCurrentGoalIndex () const

unsigned int	getPathCurrentIndex () const

std::vector< int >	getPathNextNodes () const

std::vector< std::pair< int, Transform > >	getPathNextPoses () const

std::map< int, std::map< int, Transform > >	getPaths (std::map< int, Transform > poses, const Transform &target, int maxGraphDepth=0) const

int	getPathStatus () const

const Transform &	getPathTransformToGoal () const

Transform	getPose (int locationId) const

const Statistics &	getStatistics () const

std::set< int >	getSTM () const

int	getSTMSize () const

float	getTimeThreshold () const

int	getTotalMemSize () const

std::map< int, int >	getWeights () const

std::list< int >	getWM () const

int	getWMSize () const

std::multimap< int, cv::KeyPoint >	getWords (int locationId) const

const std::string &	getWorkingDir () const

void	init (const ParametersMap &parameters, const std::string &databasePath="")

void	init (const std::string &configFile="", const std::string &databasePath="")

bool	isIDsGenerated () const

bool	isInSTM (int locationId) const

bool	isRGBDMode () const

bool	labelLocation (int id, const std::string &label)

void	parseParameters (const ParametersMap &parameters)

bool	process (const SensorData &data, Transform odomPose, const cv::Mat &odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())
	Main loop of rtabmap. More...

bool	process (const SensorData &data, Transform odomPose, float odomLinearVariance, float odomAngularVariance, const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())

bool	process (const cv::Mat &image, int id=0, const std::map< std::string, float > &externalStats=std::map< std::string, float >())

int	refineLinks ()

void	rejectLastLoopClosure ()

void	resetMemory ()

	Rtabmap ()

std::pair< int, float >	selectHypothesis (const std::map< int, float > &posterior, const std::map< int, float > &likelihood) const

void	setInitialPose (const Transform &initialPose)

void	setOptimizedPoses (const std::map< int, Transform > &poses)

void	setTimeThreshold (float maxTimeAllowed)

bool	setUserData (int id, const cv::Mat &data)

void	setWorkingDirectory (std::string path)

int	triggerNewMap ()

virtual	~Rtabmap ()

Private Member Functions
bool	computePath (int targetNode, std::map< int, Transform > nodes, const std::multimap< int, rtabmap::Link > &constraints)

void	flushStatisticLogs ()

void	optimizeCurrentMap (int id, bool lookInDatabase, std::map< int, Transform > &optimizedPoses, cv::Mat &covariance, std::multimap< int, Link > constraints=0, double error=0, int *iterationsDone=0) const

std::map< int, Transform >	optimizeGraph (int fromId, const std::set< int > &ids, const std::map< int, Transform > &guessPoses, bool lookInDatabase, cv::Mat &covariance, std::multimap< int, Link > constraints=0, double error=0, int *iterationsDone=0) const

void	setupLogFiles (bool overwrite=false)

void	updateGoalIndex ()

Private Attributes
BayesFilter *	_bayesFilter

std::list< std::string >	_bufferedLogsF

std::list< std::string >	_bufferedLogsI

bool	_computeRMSE

std::multimap< int, Link >	_constraints

std::string	_databasePath

float	_distanceTravelled

EpipolarGeometry *	_epipolarGeometry

FILE *	_foutFloat

FILE *	_foutInt

float	_goalReachedRadius

bool	_goalsSavedInUserData

Optimizer *	_graphOptimizer

std::pair< int, float >	_highestHypothesis

int	_lastLocalizationNodeId

Transform	_lastLocalizationPose

double	_lastProcessTime

float	_localImmunizationRatio

float	_localRadius

std::pair< int, float >	_loopClosureHypothesis

float	_loopRatio

float	_loopThr

Transform	_mapCorrection

Transform	_mapCorrectionBackup

unsigned int	_maxLocalRetrieved

unsigned int	_maxMemoryAllowed

unsigned int	_maxRetrieved

float	_maxTimeAllowed

Memory *	_memory

bool	_neighborLinkRefining

float	_newMapOdomChangeDistance

float	_optimizationMaxError

std::map< int, Transform >	_optimizedPoses

bool	_optimizeFromGraphEnd

ParametersMap	_parameters

std::vector< std::pair< int, Transform > >	_path

float	_pathAngularVelocity

unsigned int	_pathCurrentIndex

unsigned int	_pathGoalIndex

float	_pathLinearVelocity

int	_pathStatus

int	_pathStuckCount

float	_pathStuckDistance

int	_pathStuckIterations

Transform	_pathTransformToGoal

std::set< unsigned int >	_pathUnreachableNodes

float	_proximityAngle

bool	_proximityBySpace

bool	_proximityByTime

float	_proximityFilteringRadius

int	_proximityMaxGraphDepth

int	_proximityMaxNeighbors

int	_proximityMaxPaths

bool	_proximityRawPosesUsed

bool	_publishLastSignatureData

bool	_publishLikelihood

bool	_publishPdf

bool	_publishRAMUsage

bool	_publishStats

bool	_rawDataKept

float	_rgbdAngularSpeedUpdate

float	_rgbdAngularUpdate

float	_rgbdLinearSpeedUpdate

float	_rgbdLinearUpdate

bool	_rgbdSlamMode

bool	_savedLocalizationIgnored

bool	_saveWMState

bool	_scanMatchingIdsSavedInLinks

bool	_someNodesHaveBeenTransferred

bool	_startNewMapOnGoodSignature

bool	_startNewMapOnLoopClosure

bool	_statisticLogged

bool	_statisticLoggedHeaders

bool	_statisticLogsBufferedInRAM

bool	_verifyLoopClosureHypothesis

std::string	_wDir

Statistics	statistics_

Detailed Description

Definition at line 53 of file Rtabmap.h.

Member Enumeration Documentation

enum rtabmap::Rtabmap::VhStrategy

Enumerator
kVhNone
kVhEpipolar
kVhUndef

Definition at line 56 of file Rtabmap.h.

Constructor & Destructor Documentation

rtabmap::Rtabmap::Rtabmap ( )

Definition at line 78 of file Rtabmap.cpp.

rtabmap::Rtabmap::~Rtabmap ( )

virtual

Definition at line 149 of file Rtabmap.cpp.

Member Function Documentation

void rtabmap::Rtabmap::adjustLikelihood ( std::map< int, float > & likelihood ) const

Definition at line 3541 of file Rtabmap.cpp.

void rtabmap::Rtabmap::clearPath ( int status )

Definition at line 4139 of file Rtabmap.cpp.

void rtabmap::Rtabmap::close	(	bool	databaseSaved = `true`,
		const std::string &	ouputDatabasePath = `""`
	)

Close rtabmap. This will delete rtabmap object if set.

Parameters

databaseSaved	true=database saved, false=database discarded.
databasePath	output database file name, ignored if Db/Sqlite3InMemory=false (opened database is then overwritten).

Definition at line 348 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::computePath	(	int	targetNode,
		bool	global
	)

Definition at line 4157 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::computePath	(	const Transform &	targetPose,
		float	tolerance = `-1.0f`
	)

Definition at line 4274 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::computePath	(	int	targetNode,
		std::map< int, Transform >	nodes,
		const std::multimap< int, rtabmap::Link > &	constraints
	)

private

void rtabmap::Rtabmap::deleteLastLocation ( )

Definition at line 3126 of file Rtabmap.cpp.

int rtabmap::Rtabmap::detectMoreLoopClosures	(	float	clusterRadius = `0.5f`,
		float	clusterAngle = `M_PI/6.0f`,
		int	iterations = `1`,
		const ProgressState *	state = `0`
	)

Definition at line 3843 of file Rtabmap.cpp.

void rtabmap::Rtabmap::dumpData ( ) const

Definition at line 3181 of file Rtabmap.cpp.

void rtabmap::Rtabmap::dumpPrediction ( ) const

Definition at line 3612 of file Rtabmap.cpp.

void rtabmap::Rtabmap::exportPoses	(	const std::string &	path,
		bool	optimized,
		bool	global,
		int	format
	)

Definition at line 791 of file Rtabmap.cpp.

void rtabmap::Rtabmap::flushStatisticLogs ( )

private

Definition at line 260 of file Rtabmap.cpp.

void rtabmap::Rtabmap::generateDOTGraph	(	const std::string &	path,
		int	id = `0`,
		int	margin = `5`
	)

Definition at line 759 of file Rtabmap.cpp.

void rtabmap::Rtabmap::get3DMap	(	std::map< int, Signature > &	signatures,
		std::map< int, Transform > &	poses,
		std::multimap< int, Link > &	constraints,
		bool	optimized,
		bool	global
	)		const

Definition at line 3670 of file Rtabmap.cpp.

std::map< int, Transform > rtabmap::Rtabmap::getForwardWMPoses	(	int	fromId,
		int	maxNearestNeighbors,
		float	radius,
		int	maxDiffID
	)		const

Definition at line 3199 of file Rtabmap.cpp.

float rtabmap::Rtabmap::getGoalReachedRadius ( ) const

inline

Definition at line 125 of file Rtabmap.h.

void rtabmap::Rtabmap::getGraph	(	std::map< int, Transform > &	poses,
		std::multimap< int, Link > &	constraints,
		bool	optimized,
		bool	global,
		std::map< int, Signature > *	signatures = `0`
	)

Definition at line 3759 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getHighestHypothesisId ( ) const

inline

Definition at line 105 of file Rtabmap.h.

float rtabmap::Rtabmap::getHighestHypothesisValue ( ) const

inline

Definition at line 106 of file Rtabmap.h.

const Transform& rtabmap::Rtabmap::getLastLocalizationPose ( ) const

inline

Definition at line 127 of file Rtabmap.h.

int rtabmap::Rtabmap::getLastLocationId ( ) const

Definition at line 528 of file Rtabmap.cpp.

double rtabmap::Rtabmap::getLastProcessTime ( ) const

inline

Definition at line 114 of file Rtabmap.h.

const std::multimap<int, Link>& rtabmap::Rtabmap::getLocalConstraints ( ) const

inline

Definition at line 121 of file Rtabmap.h.

const std::map<int, Transform>& rtabmap::Rtabmap::getLocalOptimizedPoses ( ) const

inline

Definition at line 120 of file Rtabmap.h.

float rtabmap::Rtabmap::getLocalRadius ( ) const

inline

Definition at line 126 of file Rtabmap.h.

int rtabmap::Rtabmap::getLoopClosureId ( ) const

inline

Definition at line 103 of file Rtabmap.h.

float rtabmap::Rtabmap::getLoopClosureValue ( ) const

inline

Definition at line 104 of file Rtabmap.h.

Transform rtabmap::Rtabmap::getMapCorrection ( ) const

inline

Definition at line 123 of file Rtabmap.h.

const Memory* rtabmap::Rtabmap::getMemory ( ) const

inline

Definition at line 124 of file Rtabmap.h.

const ParametersMap& rtabmap::Rtabmap::getParameters ( ) const

inline

Definition at line 154 of file Rtabmap.h.

const std::vector<std::pair<int, Transform> >& rtabmap::Rtabmap::getPath ( ) const

inline

Definition at line 176 of file Rtabmap.h.

int rtabmap::Rtabmap::getPathCurrentGoalId ( ) const

Definition at line 4445 of file Rtabmap.cpp.

unsigned int rtabmap::Rtabmap::getPathCurrentGoalIndex ( ) const

inline

Definition at line 181 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::getPathCurrentIndex ( ) const

inline

Definition at line 180 of file Rtabmap.h.

std::vector< int > rtabmap::Rtabmap::getPathNextNodes ( ) const

Definition at line 4420 of file Rtabmap.cpp.

std::vector< std::pair< int, Transform > > rtabmap::Rtabmap::getPathNextPoses ( ) const

Definition at line 4395 of file Rtabmap.cpp.

std::map< int, std::map< int, Transform > > rtabmap::Rtabmap::getPaths	(	std::map< int, Transform >	poses,
		const Transform &	target,
		int	maxGraphDepth = `0`
	)		const

Definition at line 3315 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getPathStatus ( ) const

inline

Definition at line 172 of file Rtabmap.h.

const Transform& rtabmap::Rtabmap::getPathTransformToGoal ( ) const

inline

Definition at line 182 of file Rtabmap.h.

Transform rtabmap::Rtabmap::getPose ( int locationId ) const

Definition at line 654 of file Rtabmap.cpp.

const Statistics & rtabmap::Rtabmap::getStatistics ( ) const

Definition at line 631 of file Rtabmap.cpp.

std::set< int > rtabmap::Rtabmap::getSTM ( ) const

Definition at line 569 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getSTMSize ( ) const

Definition at line 578 of file Rtabmap.cpp.

float rtabmap::Rtabmap::getTimeThreshold ( ) const

inline

Definition at line 129 of file Rtabmap.h.

int rtabmap::Rtabmap::getTotalMemSize ( ) const

Definition at line 587 of file Rtabmap.cpp.

std::map< int, int > rtabmap::Rtabmap::getWeights ( ) const

Definition at line 558 of file Rtabmap.cpp.

std::list< int > rtabmap::Rtabmap::getWM ( ) const

Definition at line 538 of file Rtabmap.cpp.

int rtabmap::Rtabmap::getWMSize ( ) const

Definition at line 549 of file Rtabmap.cpp.

std::multimap< int, cv::KeyPoint > rtabmap::Rtabmap::getWords ( int locationId ) const

Definition at line 600 of file Rtabmap.cpp.

const std::string& rtabmap::Rtabmap::getWorkingDir ( ) const

inline

Definition at line 101 of file Rtabmap.h.

void rtabmap::Rtabmap::init	(	const ParametersMap &	parameters,
		const std::string &	databasePath = `""`
	)

Definition at line 282 of file Rtabmap.cpp.

void rtabmap::Rtabmap::init	(	const std::string &	configFile = `""`,
		const std::string &	databasePath = `""`
	)

Definition at line 334 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::isIDsGenerated ( ) const

Definition at line 622 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::isInSTM ( int locationId ) const

Definition at line 613 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::isRGBDMode ( ) const

inline

Definition at line 102 of file Rtabmap.h.

bool rtabmap::Rtabmap::labelLocation	(	int	id,
		const std::string &	label
	)

Definition at line 719 of file Rtabmap.cpp.

void rtabmap::Rtabmap::optimizeCurrentMap	(	int	id,
		bool	lookInDatabase,
		std::map< int, Transform > &	optimizedPoses,
		cv::Mat &	covariance,
		std::multimap< int, Link > *	constraints = `0`,
		double *	error = `0`,
		int *	iterationsDone = `0`
	)		const

private

Definition at line 3378 of file Rtabmap.cpp.

std::map< int, Transform > rtabmap::Rtabmap::optimizeGraph	(	int	fromId,
		const std::set< int > &	ids,
		const std::map< int, Transform > &	guessPoses,
		bool	lookInDatabase,
		cv::Mat &	covariance,
		std::multimap< int, Link > *	constraints = `0`,
		double *	error = `0`,
		int *	iterationsDone = `0`
	)		const

private

Definition at line 3424 of file Rtabmap.cpp.

void rtabmap::Rtabmap::parseParameters ( const ParametersMap & parameters )

Definition at line 405 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::process	(	const SensorData &	data,
		Transform	odomPose,
		const cv::Mat &	odomCovariance = `cv::Mat::eye(6,6,CV_64FC1)`,
		const std::vector< float > &	odomVelocity = `std::vector<float>()`,
		const std::map< std::string, float > &	externalStats = `std::map<std::string, float>()`
	)

Main loop of rtabmap.

Parameters

data	Sensor data to process.
odomPose	Odometry pose, should be non-null for RGB-D SLAM mode.
covariance	Odometry covariance.
externalStats	External statistics to be saved in the database for convenience

Returns: true if data has been added to map.

Definition at line 897 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::process	(	const SensorData &	data,
		Transform	odomPose,
		float	odomLinearVariance,
		float	odomAngularVariance,
		const std::vector< float > &	odomVelocity = `std::vector<float>()`,
		const std::map< std::string, float > &	externalStats = `std::map<std::string, float>()`
	)

Definition at line 875 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::process	(	const cv::Mat &	image,
		int	id = `0`,
		const std::map< std::string, float > &	externalStats = `std::map<std::string, float>()`
	)

Definition at line 868 of file Rtabmap.cpp.

int rtabmap::Rtabmap::refineLinks ( )

Definition at line 4093 of file Rtabmap.cpp.

void rtabmap::Rtabmap::rejectLastLoopClosure ( )

Definition at line 3068 of file Rtabmap.cpp.

void rtabmap::Rtabmap::resetMemory ( )

Definition at line 829 of file Rtabmap.cpp.

std::pair<int, float> rtabmap::Rtabmap::selectHypothesis	(	const std::map< int, float > &	posterior,
		const std::map< int, float > &	likelihood
	)		const

void rtabmap::Rtabmap::setInitialPose ( const Transform & initialPose )

Definition at line 667 of file Rtabmap.cpp.

void rtabmap::Rtabmap::setOptimizedPoses ( const std::map< int, Transform > & poses )

Definition at line 3176 of file Rtabmap.cpp.

void rtabmap::Rtabmap::setTimeThreshold ( float maxTimeAllowed )

Definition at line 3026 of file Rtabmap.cpp.

void rtabmap::Rtabmap::setupLogFiles ( bool overwrite = false )

private

Definition at line 154 of file Rtabmap.cpp.

bool rtabmap::Rtabmap::setUserData	(	int	id,
		const cv::Mat &	data
	)

Set user data. Detect automatically if raw or compressed. If raw, the data is compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed. If you have one dimension unsigned 8 bits raw data, make sure to transpose it (to have multiple rows instead of multiple columns) in order to be detected as not compressed.

Definition at line 739 of file Rtabmap.cpp.

void rtabmap::Rtabmap::setWorkingDirectory ( std::string path )

Definition at line 3041 of file Rtabmap.cpp.

int rtabmap::Rtabmap::triggerNewMap ( )

Definition at line 685 of file Rtabmap.cpp.

void rtabmap::Rtabmap::updateGoalIndex ( )

private

Definition at line 4455 of file Rtabmap.cpp.

Member Data Documentation

BayesFilter* rtabmap::Rtabmap::_bayesFilter

private

Definition at line 272 of file Rtabmap.h.

std::list<std::string> rtabmap::Rtabmap::_bufferedLogsF

private

Definition at line 280 of file Rtabmap.h.

std::list<std::string> rtabmap::Rtabmap::_bufferedLogsI

private

Definition at line 281 of file Rtabmap.h.

bool rtabmap::Rtabmap::_computeRMSE

private

Definition at line 220 of file Rtabmap.h.

std::multimap<int, Link> rtabmap::Rtabmap::_constraints

private

Definition at line 288 of file Rtabmap.h.

std::string rtabmap::Rtabmap::_databasePath

private

Definition at line 251 of file Rtabmap.h.

float rtabmap::Rtabmap::_distanceTravelled

private

Definition at line 267 of file Rtabmap.h.

EpipolarGeometry* rtabmap::Rtabmap::_epipolarGeometry

private

Definition at line 271 of file Rtabmap.h.

FILE* rtabmap::Rtabmap::_foutFloat

private

Definition at line 278 of file Rtabmap.h.

FILE* rtabmap::Rtabmap::_foutInt

private

Definition at line 279 of file Rtabmap.h.

float rtabmap::Rtabmap::_goalReachedRadius

private

Definition at line 256 of file Rtabmap.h.

bool rtabmap::Rtabmap::_goalsSavedInUserData

private

Definition at line 257 of file Rtabmap.h.

Optimizer* rtabmap::Rtabmap::_graphOptimizer

private

Definition at line 273 of file Rtabmap.h.

std::pair<int, float> rtabmap::Rtabmap::_highestHypothesis

private

Definition at line 264 of file Rtabmap.h.

int rtabmap::Rtabmap::_lastLocalizationNodeId

private

Definition at line 292 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_lastLocalizationPose

private

Definition at line 291 of file Rtabmap.h.

double rtabmap::Rtabmap::_lastProcessTime

private

Definition at line 265 of file Rtabmap.h.

float rtabmap::Rtabmap::_localImmunizationRatio

private

Definition at line 244 of file Rtabmap.h.

float rtabmap::Rtabmap::_localRadius

private

Definition at line 243 of file Rtabmap.h.

std::pair<int, float> rtabmap::Rtabmap::_loopClosureHypothesis

private

Definition at line 263 of file Rtabmap.h.

float rtabmap::Rtabmap::_loopRatio

private

Definition at line 225 of file Rtabmap.h.

float rtabmap::Rtabmap::_loopThr

private

Definition at line 224 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_mapCorrection

private

Definition at line 289 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_mapCorrectionBackup

private

Definition at line 290 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_maxLocalRetrieved

private

Definition at line 228 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_maxMemoryAllowed

private

Definition at line 223 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_maxRetrieved

private

Definition at line 227 of file Rtabmap.h.

float rtabmap::Rtabmap::_maxTimeAllowed

private

Definition at line 222 of file Rtabmap.h.

Memory* rtabmap::Rtabmap::_memory

private

Definition at line 276 of file Rtabmap.h.

bool rtabmap::Rtabmap::_neighborLinkRefining

private

Definition at line 239 of file Rtabmap.h.

float rtabmap::Rtabmap::_newMapOdomChangeDistance

private

Definition at line 238 of file Rtabmap.h.

float rtabmap::Rtabmap::_optimizationMaxError

private

Definition at line 253 of file Rtabmap.h.

std::map<int, Transform> rtabmap::Rtabmap::_optimizedPoses

private

Definition at line 287 of file Rtabmap.h.

bool rtabmap::Rtabmap::_optimizeFromGraphEnd

private

Definition at line 252 of file Rtabmap.h.

ParametersMap rtabmap::Rtabmap::_parameters

private

Definition at line 274 of file Rtabmap.h.

std::vector<std::pair<int,Transform> > rtabmap::Rtabmap::_path

private

Definition at line 296 of file Rtabmap.h.

float rtabmap::Rtabmap::_pathAngularVelocity

private

Definition at line 260 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_pathCurrentIndex

private

Definition at line 298 of file Rtabmap.h.

unsigned int rtabmap::Rtabmap::_pathGoalIndex

private

Definition at line 299 of file Rtabmap.h.

float rtabmap::Rtabmap::_pathLinearVelocity

private

Definition at line 259 of file Rtabmap.h.

int rtabmap::Rtabmap::_pathStatus

private

Definition at line 295 of file Rtabmap.h.

int rtabmap::Rtabmap::_pathStuckCount

private

Definition at line 301 of file Rtabmap.h.

float rtabmap::Rtabmap::_pathStuckDistance

private

Definition at line 302 of file Rtabmap.h.

int rtabmap::Rtabmap::_pathStuckIterations

private

Definition at line 258 of file Rtabmap.h.

Transform rtabmap::Rtabmap::_pathTransformToGoal

private

Definition at line 300 of file Rtabmap.h.

std::set<unsigned int> rtabmap::Rtabmap::_pathUnreachableNodes

private

Definition at line 297 of file Rtabmap.h.

float rtabmap::Rtabmap::_proximityAngle

private

Definition at line 250 of file Rtabmap.h.

bool rtabmap::Rtabmap::_proximityBySpace

private

Definition at line 241 of file Rtabmap.h.

bool rtabmap::Rtabmap::_proximityByTime

private

Definition at line 240 of file Rtabmap.h.

float rtabmap::Rtabmap::_proximityFilteringRadius

private

Definition at line 248 of file Rtabmap.h.

int rtabmap::Rtabmap::_proximityMaxGraphDepth

private

Definition at line 245 of file Rtabmap.h.

int rtabmap::Rtabmap::_proximityMaxNeighbors

private

Definition at line 247 of file Rtabmap.h.

int rtabmap::Rtabmap::_proximityMaxPaths

private

Definition at line 246 of file Rtabmap.h.

bool rtabmap::Rtabmap::_proximityRawPosesUsed

private

Definition at line 249 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishLastSignatureData

private

Definition at line 216 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishLikelihood

private

Definition at line 218 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishPdf

private

Definition at line 217 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishRAMUsage

private

Definition at line 219 of file Rtabmap.h.

bool rtabmap::Rtabmap::_publishStats

private

Definition at line 215 of file Rtabmap.h.

bool rtabmap::Rtabmap::_rawDataKept

private

Definition at line 229 of file Rtabmap.h.

float rtabmap::Rtabmap::_rgbdAngularSpeedUpdate

private

Definition at line 237 of file Rtabmap.h.

float rtabmap::Rtabmap::_rgbdAngularUpdate

private

Definition at line 235 of file Rtabmap.h.

float rtabmap::Rtabmap::_rgbdLinearSpeedUpdate

private

Definition at line 236 of file Rtabmap.h.

float rtabmap::Rtabmap::_rgbdLinearUpdate

private

Definition at line 234 of file Rtabmap.h.

bool rtabmap::Rtabmap::_rgbdSlamMode

private

Definition at line 233 of file Rtabmap.h.

bool rtabmap::Rtabmap::_savedLocalizationIgnored

private

Definition at line 261 of file Rtabmap.h.

bool rtabmap::Rtabmap::_saveWMState

private

Definition at line 221 of file Rtabmap.h.

bool rtabmap::Rtabmap::_scanMatchingIdsSavedInLinks

private

Definition at line 242 of file Rtabmap.h.

bool rtabmap::Rtabmap::_someNodesHaveBeenTransferred

private

Definition at line 266 of file Rtabmap.h.

bool rtabmap::Rtabmap::_startNewMapOnGoodSignature

private

Definition at line 255 of file Rtabmap.h.

bool rtabmap::Rtabmap::_startNewMapOnLoopClosure

private

Definition at line 254 of file Rtabmap.h.

bool rtabmap::Rtabmap::_statisticLogged

private

Definition at line 231 of file Rtabmap.h.

bool rtabmap::Rtabmap::_statisticLoggedHeaders

private

Definition at line 232 of file Rtabmap.h.

bool rtabmap::Rtabmap::_statisticLogsBufferedInRAM

private

Definition at line 230 of file Rtabmap.h.

bool rtabmap::Rtabmap::_verifyLoopClosureHypothesis

private

Definition at line 226 of file Rtabmap.h.

std::string rtabmap::Rtabmap::_wDir

private

Definition at line 285 of file Rtabmap.h.

Statistics rtabmap::Rtabmap::statistics_

private

Definition at line 283 of file Rtabmap.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation