rtabmap::LocalGridCache Class Reference

Cache of LocalGrid entries keyed by map node id. More...

#include <LocalGrid.h>

Public Member Functions
void	add (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))
	Inserts or replaces the grid for nodeId (from separate cell mats).
void	add (int nodeId, const LocalGrid &localGrid)
	Inserts or replaces the grid for nodeId.
bool	shareTo (int nodeId, LocalGridCache &anotherCache) const
	Copies a grid to anotherCache if present here and absent there.
unsigned long	getMemoryUsed () const
	Approximate memory used by cached grids (bytes).
void	clear (bool temporaryOnly=false)
	Removes cached grids.
size_t	size () const
bool	empty () const
const std::map< int, LocalGrid > &	localGrids () const
std::map< int, LocalGrid >::const_iterator	find (int nodeId) const
std::map< int, LocalGrid >::const_iterator	begin () const
std::map< int, LocalGrid >::const_iterator	end () const

Detailed Description

Cache of LocalGrid entries keyed by map node id.

Used by GlobalMap and its subclasses (e.g. OccupancyGrid) to hold per-node local grids before assembly. Node id 0 is stored as -1 (temporary grid). Negative ids passed to add() are rejected.

Definition at line 97 of file LocalGrid.h.

Constructor & Destructor Documentation

LocalGridCache()

rtabmap::LocalGridCache::LocalGridCache ( )

inline

Definition at line 100 of file LocalGrid.h.

~LocalGridCache()

virtual rtabmap::LocalGridCache::~LocalGridCache ( )

inlinevirtual

Definition at line 101 of file LocalGrid.h.

Member Function Documentation

shareTo()

bool rtabmap::LocalGridCache::shareTo	(	int	nodeId,
		LocalGridCache &	anotherCache
	)		const

Copies a grid to anotherCache if present here and absent there.

Returns

True if a grid was shared.

clear()

void rtabmap::LocalGridCache::clear

(

bool

temporaryOnly = false

)

Removes cached grids.

Parameters

temporaryOnly

If true, removes only entries with negative ids (e.g. -1).

size()

size_t rtabmap::LocalGridCache::size ( ) const

inline

Definition at line 129 of file LocalGrid.h.

empty()

bool rtabmap::LocalGridCache::empty ( ) const

inline

Definition at line 130 of file LocalGrid.h.

localGrids()

const std::map< int, LocalGrid > & rtabmap::LocalGridCache::localGrids ( ) const

inline

Definition at line 131 of file LocalGrid.h.

find()

std::map< int, LocalGrid >::const_iterator rtabmap::LocalGridCache::find ( int  nodeId ) const

inline

Definition at line 133 of file LocalGrid.h.

begin()

std::map< int, LocalGrid >::const_iterator rtabmap::LocalGridCache::begin ( ) const

inline

Definition at line 134 of file LocalGrid.h.

end()

std::map< int, LocalGrid >::const_iterator rtabmap::LocalGridCache::end ( ) const

inline

Definition at line 135 of file LocalGrid.h.

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

• corelib/include/rtabmap/core/LocalGrid.h