Public Types | Public Member Functions | Static Public Member Functions | Private Member Functions | Private Attributes | List of all members
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 setTo (int to)
 
void setTransform (const Transform &transform)
 
void setType (Type type)
 
int to () const
 
const Transformtransform () 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 Member Functions

void setInfMatrix (const cv::Mat &infMatrix)
 

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

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

rtabmap::Link::Link ( )

Definition at line 61 of file Link.cpp.

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

int rtabmap::Link::from ( ) const
inline

Definition at line 69 of file Link.h.

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

Definition at line 74 of file Link.h.

Link rtabmap::Link::inverse ( ) const

Definition at line 188 of file Link.cpp.

bool rtabmap::Link::isValid ( ) const
inline

Definition at line 67 of file Link.h.

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

Definition at line 163 of file Link.cpp.

double rtabmap::Link::rotVariance ( bool  minimum = true) const

Definition at line 91 of file Link.cpp.

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

Definition at line 78 of file Link.h.

void rtabmap::Link::setInfMatrix ( const cv::Mat &  infMatrix)
private

Definition at line 134 of file Link.cpp.

void rtabmap::Link::setTo ( int  to)
inline

Definition at line 79 of file Link.h.

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

Definition at line 80 of file Link.h.

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

Definition at line 81 of file Link.h.

int rtabmap::Link::to ( ) const
inline

Definition at line 70 of file Link.h.

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

Definition at line 71 of file Link.h.

double rtabmap::Link::transVariance ( bool  minimum = true) const

Definition at line 112 of file Link.cpp.

Type rtabmap::Link::type ( ) const
inline

Definition at line 72 of file Link.h.

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

Definition at line 36 of file Link.cpp.

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

Definition at line 73 of file Link.h.

void rtabmap::Link::uncompressUserData ( )

Definition at line 145 of file Link.cpp.

cv::Mat rtabmap::Link::uncompressUserDataConst ( ) const

Definition at line 154 of file Link.cpp.

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

Definition at line 84 of file Link.h.

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

Definition at line 83 of file Link.h.

Member Data Documentation

cv::Mat rtabmap::Link::_userDataCompressed
private

Definition at line 102 of file Link.h.

cv::Mat rtabmap::Link::_userDataRaw
private

Definition at line 103 of file Link.h.

int rtabmap::Link::from_
private

Definition at line 95 of file Link.h.

cv::Mat rtabmap::Link::infMatrix_
private

Definition at line 99 of file Link.h.

int rtabmap::Link::to_
private

Definition at line 96 of file Link.h.

Transform rtabmap::Link::transform_
private

Definition at line 97 of file Link.h.

Type rtabmap::Link::type_
private

Definition at line 98 of file Link.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:08