rtabmap::OccupancyGrid Class Reference

#include <OccupancyGrid.h>

Inheritance diagram for rtabmap::OccupancyGrid:

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.

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

• global_map/OccupancyGrid.h
• OccupancyGrid.cpp