rtabmap::GlobalMap Class Reference

#include <GlobalMap.h>

Inheritance diagram for rtabmap::GlobalMap:

Public Member Functions
const std::map< int, Transform > &	addedNodes () const
virtual void	clear ()
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
virtual unsigned long	getMemoryUsed () const
float	getUpdateError () const
bool	update (const std::map< int, Transform > &poses)
virtual	~GlobalMap ()

Static Public Member Functions
static float	logodds (double probability)
static double	probability (double logodds)

Protected Member Functions
void	addAssembledNode (int id, const Transform &pose)
virtual void	assemble (const std::list< std::pair< int, Transform > > &newPoses)=0
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)

Protected Attributes
float	cellSize_
float	logOddsClampingMax_
float	logOddsClampingMin_
float	logOddsHit_
float	logOddsMiss_
double	maxValues_ [3]
double	minValues_ [3]
float	occupancyThr_
float	updateError_

Private Attributes
std::map< int, Transform >	addedNodes_
const LocalGridCache *	cache_

Detailed Description

Definition at line 40 of file GlobalMap.h.

Constructor & Destructor Documentation

~GlobalMap()

rtabmap::GlobalMap::~GlobalMap ( )

virtual

Definition at line 80 of file GlobalMap.cpp.

GlobalMap()

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

protected

Definition at line 34 of file GlobalMap.cpp.

Member Function Documentation

addAssembledNode()

void rtabmap::GlobalMap::addAssembledNode ( int  id, const Transform &  pose  )

protected

Definition at line 160 of file GlobalMap.cpp.

addedNodes()

const std::map<int, Transform>& rtabmap::GlobalMap::addedNodes ( ) const

inline

Definition at line 62 of file GlobalMap.h.

assemble()

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

protectedpure virtual

Implemented in rtabmap::OctoMap, rtabmap::GridMap, rtabmap::OccupancyGrid, and rtabmap::CloudMap.

assembledNodes()

const std::map<int, Transform>& rtabmap::GlobalMap::assembledNodes ( ) const

inlineprotected

Definition at line 78 of file GlobalMap.h.

cache()

const std::map<int, LocalGrid>& rtabmap::GlobalMap::cache ( ) const

inlineprotected

Definition at line 76 of file GlobalMap.h.

clear()

void rtabmap::GlobalMap::clear ( )

virtual

Reimplemented in rtabmap::OctoMap, rtabmap::GridMap, rtabmap::OccupancyGrid, and rtabmap::CloudMap.

Definition at line 85 of file GlobalMap.cpp.

getCellSize()

float rtabmap::GlobalMap::getCellSize ( ) const

inline

Definition at line 60 of file GlobalMap.h.

getGridMax() [1/2]

void rtabmap::GlobalMap::getGridMax ( double &  x, double &  y  ) const

inline

Definition at line 65 of file GlobalMap.h.

getGridMax() [2/2]

void rtabmap::GlobalMap::getGridMax ( double &  x, double &  y, double &  z  ) const

inline

Definition at line 67 of file GlobalMap.h.

getGridMin() [1/2]

void rtabmap::GlobalMap::getGridMin ( double &  x, double &  y  ) const

inline

Definition at line 64 of file GlobalMap.h.

getGridMin() [2/2]

void rtabmap::GlobalMap::getGridMin ( double &  x, double &  y, double &  z  ) const

inline

Definition at line 66 of file GlobalMap.h.

getMemoryUsed()

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

virtual

Reimplemented in rtabmap::OctoMap, rtabmap::OccupancyGrid, and rtabmap::CloudMap.

Definition at line 93 of file GlobalMap.cpp.

getUpdateError()

float rtabmap::GlobalMap::getUpdateError ( ) const

inline

Definition at line 61 of file GlobalMap.h.

isNodeAssembled()

bool rtabmap::GlobalMap::isNodeAssembled ( int  id )

inlineprotected

Definition at line 79 of file GlobalMap.h.

logodds()

static float rtabmap::GlobalMap::logodds ( double  probability )

inlinestatic

Definition at line 43 of file GlobalMap.h.

probability()

static double rtabmap::GlobalMap::probability ( double  logodds )

inlinestatic

Definition at line 48 of file GlobalMap.h.

update()

bool rtabmap::GlobalMap::update

(

const std::map< int, Transform > &

poses

)

Definition at line 102 of file GlobalMap.cpp.

Member Data Documentation

addedNodes_

std::map<int, Transform> rtabmap::GlobalMap::addedNodes_

private

Definition at line 97 of file GlobalMap.h.

cache_

const LocalGridCache* rtabmap::GlobalMap::cache_

private

Definition at line 96 of file GlobalMap.h.

cellSize_

float rtabmap::GlobalMap::cellSize_

protected

Definition at line 83 of file GlobalMap.h.

logOddsClampingMax_

float rtabmap::GlobalMap::logOddsClampingMax_

protected

Definition at line 90 of file GlobalMap.h.

logOddsClampingMin_

float rtabmap::GlobalMap::logOddsClampingMin_

protected

Definition at line 89 of file GlobalMap.h.

logOddsHit_

float rtabmap::GlobalMap::logOddsHit_

protected

Definition at line 87 of file GlobalMap.h.

logOddsMiss_

float rtabmap::GlobalMap::logOddsMiss_

protected

Definition at line 88 of file GlobalMap.h.

maxValues_

double rtabmap::GlobalMap::maxValues_[3]

protected

Definition at line 93 of file GlobalMap.h.

minValues_

double rtabmap::GlobalMap::minValues_[3]

protected

Definition at line 92 of file GlobalMap.h.

occupancyThr_

float rtabmap::GlobalMap::occupancyThr_

protected

Definition at line 86 of file GlobalMap.h.

updateError_

float rtabmap::GlobalMap::updateError_

protected

Definition at line 84 of file GlobalMap.h.

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

• GlobalMap.h
• GlobalMap.cpp