Inheritance diagram for rtabmap::OccupancyGrid:

Collaboration diagram for rtabmap::OccupancyGrid:

Public Member Functions
	OccupancyGrid (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())

void	setMap (const cv::Mat &map, float xMin, float yMin, float cellSize, const std::map< int, Transform > &poses)

float	getMinMapSize () const

virtual void	clear ()
	Clears assembled nodes and grid bounds; does not clear LocalGridCache.

cv::Mat	getMap (float &xMin, float &yMin) const

cv::Mat	getProbMap (float &xMin, float &yMin) const

unsigned long	getMemoryUsed () const
	Approximate memory used by assembled-node bookkeeping (bytes).

Public Member Functions inherited from rtabmap::GlobalMap
bool	fullUpdateNeeded (const std::map< int, Transform > &poses) const
	True if the map should be rebuilt from cache (loop closure or disjoint graph).

bool	update (const std::map< int, Transform > &poses)
	Incrementally assemble new nodes from `poses`.

float	getCellSize () const

float	getUpdateError () const

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

void	getGridMin (double &x, double &y) const
	2D grid minimum (x, y) in meters.

void	getGridMax (double &x, double &y) const
	2D grid maximum (x, y) in meters.

void	getGridMin (double &x, double &y, double &z) const
	3D grid minimum (x, y, z) in meters.

void	getGridMax (double &x, double &y, double &z) const
	3D grid maximum (x, y, z) in meters.

Protected Member Functions
virtual void	assemble (const std::list< std::pair< int, Transform > > &newPoses)
	Subclass hook: merge `newPoses` into the global map; call addAssembledNode().

Protected Member Functions inherited from rtabmap::GlobalMap
	GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
	Constructs the base map; subclasses call from their constructor.

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

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

bool	isNodeAssembled (int id)

void	addAssembledNode (int id, const Transform &pose)
	Records a successfully assembled node (ids <= 0 are ignored).

Additional Inherited Members
Static Public Member Functions inherited from rtabmap::GlobalMap
static float	logodds (double probability)
	Converts probability in (0, 1) to log-odds.

static double	probability (double logodds)
	Converts log-odds back to probability in (0, 1).

Protected Attributes inherited from rtabmap::GlobalMap
float	cellSize_

float	updateError_

float	occupancyThr_

float	logOddsHit_

float	logOddsMiss_

float	logOddsClampingMin_

float	logOddsClampingMax_

double	minValues_ [3]

double	maxValues_ [3]

Detailed Description

Definition at line 40 of file OccupancyGrid.h.

Member Function Documentation

float rtabmap::OccupancyGrid::getMinMapSize ( ) const

inline

Definition at line 45 of file OccupancyGrid.h.

virtual void rtabmap::OccupancyGrid::clear ( )

virtual

Clears assembled nodes and grid bounds; does not clear LocalGridCache.

Reimplemented from rtabmap::GlobalMap.

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

virtual

Approximate memory used by assembled-node bookkeeping (bytes).

Reimplemented from rtabmap::GlobalMap.

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

protectedvirtual

Subclass hook: merge newPoses into the global map; call addAssembledNode().

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