rtabmap::CloudMap Class Reference

#include <CloudMap.h>

Inheritance diagram for rtabmap::CloudMap:

Public Member Functions
virtual void	clear ()
	CloudMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
const pcl::PointCloud< pcl::PointXYZ >::Ptr &	getMapEmptyCells () const
const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	getMapGround () const
const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &	getMapObstacles () const
unsigned long	getMemoryUsed () const
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
pcl::PointCloud< pcl::PointXYZ >::Ptr	assembledEmptyCells_
pcl::PointCloud< pcl::PointXYZRGB >::Ptr	assembledGround_
pcl::PointCloud< pcl::PointXYZRGB >::Ptr	assembledObstacles_

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 CloudMap.h.

Constructor & Destructor Documentation

CloudMap()

rtabmap::CloudMap::CloudMap	(	const LocalGridCache *	cache,
		const ParametersMap &	parameters = ParametersMap()
	)

Definition at line 41 of file CloudMap.cpp.

Member Function Documentation

assemble()

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

protectedvirtual

Implements rtabmap::GlobalMap.

Definition at line 57 of file CloudMap.cpp.

clear()

void rtabmap::CloudMap::clear ( )

virtual

Reimplemented from rtabmap::GlobalMap.

Definition at line 49 of file CloudMap.cpp.

getMapEmptyCells()

const pcl::PointCloud<pcl::PointXYZ>::Ptr& rtabmap::CloudMap::getMapEmptyCells ( ) const

inline

Definition at line 49 of file CloudMap.h.

getMapGround()

const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& rtabmap::CloudMap::getMapGround ( ) const

inline

Definition at line 47 of file CloudMap.h.

getMapObstacles()

const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& rtabmap::CloudMap::getMapObstacles ( ) const

inline

Definition at line 48 of file CloudMap.h.

getMemoryUsed()

unsigned long rtabmap::CloudMap::getMemoryUsed ( ) const

virtual

Reimplemented from rtabmap::GlobalMap.

Definition at line 134 of file CloudMap.cpp.

Member Data Documentation

assembledEmptyCells_

pcl::PointCloud<pcl::PointXYZ>::Ptr rtabmap::CloudMap::assembledEmptyCells_

private

Definition at line 59 of file CloudMap.h.

assembledGround_

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rtabmap::CloudMap::assembledGround_

private

Definition at line 57 of file CloudMap.h.

assembledObstacles_

pcl::PointCloud<pcl::PointXYZRGB>::Ptr rtabmap::CloudMap::assembledObstacles_

private

Definition at line 58 of file CloudMap.h.

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

• CloudMap.h
• CloudMap.cpp