rtabmap::Link Class Reference

#include <Link.h>

Public Types
enum	Type {   kNeighbor, kGlobalClosure, kLocalSpaceClosure, kLocalTimeClosure,   kUserClosure, kVirtualClosure, kNeighborMerged, kPosePrior,   kLandmark, kGravity, kEnd, kSelfRefLink = 97,   kAllWithLandmarks = 98, kAllWithoutLandmarks = 99, kUndef = 99 }

Public Member Functions
int	from () const
const cv::Mat &	infMatrix () const
Link	inverse () const
bool	isValid () const
	Link ()
	Link (int from, int to, Type type, const Transform &transform, const cv::Mat &infMatrix=cv::Mat::eye(6, 6, CV_64FC1), const cv::Mat &userData=cv::Mat())
Link	merge (const Link &link, Type outputType) const
double	rotVariance (bool minimum=true) const
void	setFrom (int from)
void	setInfMatrix (const cv::Mat &infMatrix)
void	setTo (int to)
void	setTransform (const Transform &transform)
void	setType (Type type)
int	to () const
const Transform &	transform () const
double	transVariance (bool minimum=true) const
Type	type () const
std::string	typeName () const
void	uncompressUserData ()
cv::Mat	uncompressUserDataConst () const
const cv::Mat &	userDataCompressed () const
const cv::Mat &	userDataRaw () const

Static Public Member Functions
static std::string	typeName (Type type)

Private Attributes
cv::Mat	_userDataCompressed
cv::Mat	_userDataRaw
int	from_
cv::Mat	infMatrix_
int	to_
Transform	transform_
Type	type_

Detailed Description

Definition at line 38 of file Link.h.

Member Enumeration Documentation

Type

enum rtabmap::Link::Type

Enumerator
kNeighbor
kGlobalClosure
kLocalSpaceClosure
kLocalTimeClosure
kUserClosure
kVirtualClosure
kNeighborMerged
kPosePrior
kLandmark
kGravity
kEnd
kSelfRefLink
kAllWithLandmarks
kAllWithoutLandmarks
kUndef

Definition at line 41 of file Link.h.

Constructor & Destructor Documentation

Link() [1/2]

rtabmap::Link::Link

(

)

Definition at line 61 of file Link.cpp.

Link() [2/2]

rtabmap::Link::Link	(	int	from,
		int	to,
		Type	type,
		const Transform &	transform,
		const cv::Mat &	infMatrix = cv::Mat::eye(6,6,CV_64FC1),
		const cv::Mat &	userData = cv::Mat()
	)

Definition at line 68 of file Link.cpp.

Member Function Documentation

from()

int rtabmap::Link::from ( ) const

inline

Definition at line 69 of file Link.h.

infMatrix()

const cv::Mat& rtabmap::Link::infMatrix ( ) const

inline

Definition at line 74 of file Link.h.

inverse()

Link rtabmap::Link::inverse

(

)

const

Definition at line 189 of file Link.cpp.

isValid()

bool rtabmap::Link::isValid ( ) const

inline

Definition at line 67 of file Link.h.

merge()

Link rtabmap::Link::merge	(	const Link &	link,
		Type	outputType
	)		const

Definition at line 164 of file Link.cpp.

rotVariance()

double rtabmap::Link::rotVariance

(

bool

minimum = true

)

const

Definition at line 92 of file Link.cpp.

setFrom()

void rtabmap::Link::setFrom ( int  from )

inline

Definition at line 78 of file Link.h.

setInfMatrix()

void rtabmap::Link::setInfMatrix

(

const cv::Mat &

infMatrix

)

Definition at line 135 of file Link.cpp.

setTo()

void rtabmap::Link::setTo ( int  to )

inline

Definition at line 79 of file Link.h.

setTransform()

void rtabmap::Link::setTransform ( const Transform &  transform )

inline

Definition at line 80 of file Link.h.

setType()

void rtabmap::Link::setType ( Type  type )

inline

Definition at line 81 of file Link.h.

to()

int rtabmap::Link::to ( ) const

inline

Definition at line 70 of file Link.h.

transform()

const Transform& rtabmap::Link::transform ( ) const

inline

Definition at line 71 of file Link.h.

transVariance()

double rtabmap::Link::transVariance

(

bool

minimum = true

)

const

Definition at line 113 of file Link.cpp.

type()

Type rtabmap::Link::type ( ) const

inline

Definition at line 72 of file Link.h.

typeName() [1/2]

std::string rtabmap::Link::typeName ( ) const

inline

Definition at line 73 of file Link.h.

typeName() [2/2]

std::string rtabmap::Link::typeName ( Type  type )

static

Definition at line 36 of file Link.cpp.

uncompressUserData()

void rtabmap::Link::uncompressUserData

(

)

Definition at line 146 of file Link.cpp.

uncompressUserDataConst()

cv::Mat rtabmap::Link::uncompressUserDataConst

(

)

const

Definition at line 155 of file Link.cpp.

userDataCompressed()

const cv::Mat& rtabmap::Link::userDataCompressed ( ) const

inline

Definition at line 85 of file Link.h.

userDataRaw()

const cv::Mat& rtabmap::Link::userDataRaw ( ) const

inline

Definition at line 84 of file Link.h.

Member Data Documentation

_userDataCompressed

cv::Mat rtabmap::Link::_userDataCompressed

private

Definition at line 100 of file Link.h.

_userDataRaw

cv::Mat rtabmap::Link::_userDataRaw

private

Definition at line 101 of file Link.h.

from_

int rtabmap::Link::from_

private

Definition at line 93 of file Link.h.

infMatrix_

cv::Mat rtabmap::Link::infMatrix_

private

Definition at line 97 of file Link.h.

to_

int rtabmap::Link::to_

private

Definition at line 94 of file Link.h.

transform_

Transform rtabmap::Link::transform_

private

Definition at line 95 of file Link.h.

type_

Type rtabmap::Link::type_

private

Definition at line 96 of file Link.h.

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

• Link.h
• Link.cpp