rtabmap::GridMap Class Reference

#include <GridMap.h>

Inheritance diagram for rtabmap::GridMap:

Public Member Functions
virtual void	clear ()
cv::Mat	createColorMap (float &xMin, float &yMin, float &cellSize) const
cv::Mat	createHeightMap (float &xMin, float &yMin, float &cellSize) const
pcl::PointCloud< pcl::PointXYZRGB >::Ptr	createTerrainCloud () const
pcl::PolygonMesh::Ptr	createTerrainMesh () const
const grid_map::GridMap &	gridMap () const
	GridMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
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
virtual unsigned long	getMemoryUsed () 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 Member Functions
cv::Mat	toImage (const std::string &layer, float &xMin, float &yMin, float &cellSize) const

Private Attributes
grid_map::GridMap	gridMap_
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 42 of file GridMap.h.

Constructor & Destructor Documentation

GridMap()

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

Definition at line 44 of file GridMap.cpp.

Member Function Documentation

assemble()

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

protectedvirtual

Implements rtabmap::GlobalMap.

Definition at line 179 of file GridMap.cpp.

clear()

void rtabmap::GridMap::clear ( )

virtual

Reimplemented from rtabmap::GlobalMap.

Definition at line 51 of file GridMap.cpp.

createColorMap()

cv::Mat rtabmap::GridMap::createColorMap	(	float &	xMin,
		float &	yMin,
		float &	cellSize
	)		const

Definition at line 62 of file GridMap.cpp.

createHeightMap()

cv::Mat rtabmap::GridMap::createHeightMap	(	float &	xMin,
		float &	yMin,
		float &	cellSize
	)		const

Definition at line 57 of file GridMap.cpp.

createTerrainCloud()

pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::GridMap::createTerrainCloud

(

)

const

Definition at line 119 of file GridMap.cpp.

createTerrainMesh()

pcl::PolygonMesh::Ptr rtabmap::GridMap::createTerrainMesh

(

)

const

Definition at line 161 of file GridMap.cpp.

gridMap()

const grid_map::GridMap& rtabmap::GridMap::gridMap ( ) const

inline

Definition at line 49 of file GridMap.h.

toImage()

cv::Mat rtabmap::GridMap::toImage ( const std::string &  layer, float &  xMin, float &  yMin, float &  cellSize  ) const

private

Definition at line 67 of file GridMap.cpp.

Member Data Documentation

gridMap_

grid_map::GridMap rtabmap::GridMap::gridMap_

private

Definition at line 63 of file GridMap.h.

minMapSize_

float rtabmap::GridMap::minMapSize_

private

Definition at line 64 of file GridMap.h.

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

• GridMap.h
• GridMap.cpp