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<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html">rtabmap::GlobalMap</a></div><divclass="ttdoc">Abstract base for assembling per-node LocalGrid data into a global map.</div><divclass="ttdef"><b>Definition</b><ahref="GlobalMap_8h_source.html#l00055">GlobalMap.h:56</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_a03581caaa2a313b131726af4e4a6b714"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#a03581caaa2a313b131726af4e4a6b714">rtabmap::GlobalMap::GlobalMap</a></div><divclass="ttdeci">GlobalMap(const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())</div><divclass="ttdoc">Constructs the base map; subclasses call from their constructor.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_a060366742fc8f51deaf7dd75b66615c7"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#a060366742fc8f51deaf7dd75b66615c7">rtabmap::GlobalMap::getGridMax</a></div><divclass="ttdeci">void getGridMax(double &x, double &y, double &z) const</div><divclass="ttdoc">3D grid maximum (x, y, z) in meters.</div><divclass="ttdef"><b>Definition</b><ahref="GlobalMap_8h_source.html#l00109">GlobalMap.h:109</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_a0b95370df2582da48ff0e1e405cccda2"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#a0b95370df2582da48ff0e1e405cccda2">rtabmap::GlobalMap::addAssembledNode</a></div><divclass="ttdeci">void addAssembledNode(int id, const Transform &pose)</div><divclass="ttdoc">Records a successfully assembled node (ids <= 0 are ignored).</div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_a11e9ba83337edf7f08f3c50064be028a"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#a11e9ba83337edf7f08f3c50064be028a">rtabmap::GlobalMap::fullUpdateNeeded</a></div><divclass="ttdeci">bool fullUpdateNeeded(const std::map< int, Transform >&poses) const</div><divclass="ttdoc">True if the map should be rebuilt from cache (loop closure or disjoint graph).</div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_a20031690daf7a7e9195ae97abf46522b"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#a20031690daf7a7e9195ae97abf46522b">rtabmap::GlobalMap::getMemoryUsed</a></div><divclass="ttdeci">virtual unsigned long getMemoryUsed() const</div><divclass="ttdoc">Approximate memory used by assembled-node bookkeeping (bytes).</div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_a37adbbb0e80ba76cfa080cec9811cca3"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#a37adbbb0e80ba76cfa080cec9811cca3">rtabmap::GlobalMap::getGridMin</a></div><divclass="ttdeci">void getGridMin(double &x, double &y, double &z) const</div><divclass="ttdoc">3D grid minimum (x, y, z) in meters.</div><divclass="ttdef"><b>Definition</b><ahref="GlobalMap_8h_source.html#l00107">GlobalMap.h:107</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_a54fd556aa295938077539e85b2be829a"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#a54fd556aa295938077539e85b2be829a">rtabmap::GlobalMap::probability</a></div><divclass="ttdeci">static double probability(double logodds)</div><divclass="ttdoc">Converts log-odds back to probability in (0, 1).</div><divclass="ttdef"><b>Definition</b><ahref="GlobalMap_8h_source.html#l00065">GlobalMap.h:65</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_aa21a1e3baba94ded5663a8057a3b8cd6"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#aa21a1e3baba94ded5663a8057a3b8cd6">rtabmap::GlobalMap::update</a></div><divclass="ttdeci">bool update(const std::map< int, Transform >&poses)</div><divclass="ttdoc">Incrementally assemble new nodes from poses.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_aa6701a09e2532877e73d5b1ba8cb1213"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213">rtabmap::GlobalMap::clear</a></div><divclass="ttdeci">virtual void clear()</div><divclass="ttdoc">Clears assembled nodes and grid bounds; does not clear LocalGridCache.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_aa840b2e62893de929f952b8511df6164"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#aa840b2e62893de929f952b8511df6164">rtabmap::GlobalMap::getGridMax</a></div><divclass="ttdeci">void getGridMax(double &x, double &y) const</div><divclass="ttdoc">2D grid maximum (x, y) in meters.</div><divclass="ttdef"><b>Definition</b><ahref="GlobalMap_8h_source.html#l00105">GlobalMap.h:105</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_ae622850e2447bf1cc3e99ee9dcd4b65f"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f">rtabmap::GlobalMap::assemble</a></div><divclass="ttdeci">virtual void assemble(const std::list< std::pair< int, Transform >>&newPoses)=0</div><divclass="ttdoc">Subclass hook: merge newPoses into the global map; call addAssembledNode().</div></div>
<divclass="ttc"id="aclassrtabmap_1_1GlobalMap_html_aff0b3450ec3db63b9dcb140ff0cbe77a"><divclass="ttname"><ahref="classrtabmap_1_1GlobalMap.html#aff0b3450ec3db63b9dcb140ff0cbe77a">rtabmap::GlobalMap::logodds</a></div><divclass="ttdeci">static float logodds(double probability)</div><divclass="ttdoc">Converts probability in (0, 1) to log-odds.</div><divclass="ttdef"><b>Definition</b><ahref="GlobalMap_8h_source.html#l00059">GlobalMap.h:59</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1LocalGridCache_html"><divclass="ttname"><ahref="classrtabmap_1_1LocalGridCache.html">rtabmap::LocalGridCache</a></div><divclass="ttdoc">Cache of LocalGrid entries keyed by map node id.</div><divclass="ttdef"><b>Definition</b><ahref="LocalGrid_8h_source.html#l00097">LocalGrid.h:98</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Transform_html"><divclass="ttname"><ahref="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><divclass="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><divclass="ttdef"><b>Definition</b><ahref="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<divclass="ttc"id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><divclass="ttname"><ahref="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><divclass="ttdeci">std::map< std::string, std::string > ParametersMap</div><divclass="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><divclass="ttdef"><b>Definition</b><ahref="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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