2026-08-02 01:36:11 +00:00
<!-- HTML header for doxygen 1.9.8-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
< html xmlns = "http://www.w3.org/1999/xhtml" lang = "en-US" >
< head >
< meta http-equiv = "Content-Type" content = "text/xhtml;charset=UTF-8" />
< meta http-equiv = "X-UA-Compatible" content = "IE=11" />
< meta name = "generator" content = "Doxygen 1.9.8" />
< meta name = "viewport" content = "width=device-width, initial-scale=1" />
< title > RTAB-Map: rtabmap::OctoMap Class Reference</ title >
< link href = "tabs.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "jquery.js" ></ script >
< script type = "text/javascript" src = "dynsections.js" ></ script >
2026-08-02 07:56:38 +00:00
< link href = "navtree.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "resize.js" ></ script >
< script type = "text/javascript" src = "navtreedata.js" ></ script >
< script type = "text/javascript" src = "navtree.js" ></ script >
2026-08-02 01:36:11 +00:00
< link href = "search/search.css" rel = "stylesheet" type = "text/css" />
< script type = "text/javascript" src = "search/searchdata.js" ></ script >
< script type = "text/javascript" src = "search/search.js" ></ script >
< link href = "doxygen.css" rel = "stylesheet" type = "text/css" />
2026-08-02 17:35:14 +00:00
< link href = "doxygen-awesome.css" rel = "stylesheet" type = "text/css" />
< link href = "custom.css" rel = "stylesheet" type = "text/css" />
2026-08-02 01:36:11 +00:00
< script type = "text/javascript" > window . RTABMAP_DOC_ROOT = "" ;</ script >
< script type = "text/javascript" src = "../versions.js" ></ script >
< script type = "text/javascript" src = "version-switcher.js" ></ script >
2026-08-02 17:35:14 +00:00
< script type = "text/javascript" src = "doxygen-awesome-darkmode-toggle.js" ></ script >
< script type = "text/javascript" > DoxygenAwesomeDarkModeToggle . init ();</ script >
2026-08-02 01:36:11 +00:00
</ head >
< body >
< div id = "top" > <!-- do not remove this div, it is closed by doxygen! -->
< div id = "titlearea" >
< table cellspacing = "0" cellpadding = "0" >
< tbody >
< tr id = "projectrow" >
< td id = "projectalign" >
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.10</ span >
</ div >
2026-08-02 07:56:38 +00:00
< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
2026-08-02 01:36:11 +00:00
</ td >
</ tr >
</ tbody >
</ table >
</ div >
<!-- end header part -->
<!-- Generated by Doxygen 1.9.8 -->
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
var searchBox = new SearchBox ( "searchBox" , "search/" , '.html' );
/* @license-end */
</ script >
< script type = "text/javascript" src = "menudata.js" ></ script >
< script type = "text/javascript" src = "menu.js" ></ script >
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$ ( function () {
initMenu ( '' , true , false , 'search.php' , 'Search' );
$ ( document ). ready ( function () { init_search (); });
});
/* @license-end */
</ script >
< div id = "main-nav" ></ div >
2026-08-02 07:56:38 +00:00
</ div > <!-- top -->
< div id = "side-nav" class = "ui-resizable side-nav-resizable" >
< div id = "nav-tree" >
< div id = "nav-tree-contents" >
< div id = "nav-sync" class = "sync" ></ div >
</ div >
</ div >
< div id = "splitbar" style = "-moz-user-select:none;"
class = "ui-resizable-handle" >
</ div >
</ div >
< script type = "text/javascript" >
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
$ ( document ). ready ( function (){ initNavTree ( 'classrtabmap_1_1OctoMap.html' , '' ); initResizable (); });
/* @license-end */
</ script >
< div id = "doc-content" >
2026-08-02 01:36:11 +00:00
<!-- window showing the filter options -->
< div id = "MSearchSelectWindow"
onmouseover = "return searchBox.OnSearchSelectShow()"
onmouseout = "return searchBox.OnSearchSelectHide()"
onkeydown = "return searchBox.OnSearchSelectKey(event)" >
</ div >
<!-- iframe showing the search results (closed by default) -->
< div id = "MSearchResultsWindow" >
< div id = "MSearchResults" >
< div class = "SRPage" >
< div id = "SRIndex" >
< div id = "SRResults" ></ div >
< div class = "SRStatus" id = "Loading" > Loading...</ div >
< div class = "SRStatus" id = "Searching" > Searching...</ div >
< div class = "SRStatus" id = "NoMatches" > No Matches</ div >
</ div >
</ div >
</ div >
</ div >
< div class = "header" >
< div class = "summary" >
< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pub-static-methods" > Static Public Member Functions</ a > |
< a href = "#pro-methods" > Protected Member Functions</ a > |
< a href = "classrtabmap_1_1OctoMap-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::OctoMap Class Reference</ div ></ div >
</ div > <!--header-->
< div class = "contents" >
< div class = "dynheader" >
Inheritance diagram for rtabmap::OctoMap:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classrtabmap_1_1OctoMap__inherit__graph.png" border = "0" usemap = "#artabmap_1_1OctoMap_inherit__map" alt = "Inheritance graph" /></ div >
< map name = "artabmap_1_1OctoMap_inherit__map" id = "artabmap_1_1OctoMap_inherit__map" >
< area shape = "rect" title = " " alt = "" coords = "11,79,154,104" />
< area shape = "rect" href = "classrtabmap_1_1GlobalMap.html" title = "Abstract base for assembling per-node LocalGrid data into a global map." alt = "" coords = "5,5,160,31" />
< area shape = "poly" title = " " alt = "" coords = "85,44,85,79,80,79,80,44" />
</ map >
2026-08-02 07:56:38 +00:00
< center >< span class = "legend" > [< a target = "top" href = "graph_legend.html" > legend</ a > ]</ span ></ center ></ div >
2026-08-02 01:36:11 +00:00
< div class = "dynheader" >
Collaboration diagram for rtabmap::OctoMap:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classrtabmap_1_1OctoMap__coll__graph.png" border = "0" usemap = "#artabmap_1_1OctoMap_coll__map" alt = "Collaboration graph" /></ div >
< map name = "artabmap_1_1OctoMap_coll__map" id = "artabmap_1_1OctoMap_coll__map" >
< area shape = "rect" title = " " alt = "" coords = "11,79,154,104" />
< area shape = "rect" href = "classrtabmap_1_1GlobalMap.html" title = "Abstract base for assembling per-node LocalGrid data into a global map." alt = "" coords = "5,5,160,31" />
< area shape = "poly" title = " " alt = "" coords = "85,44,85,79,80,79,80,44" />
</ map >
2026-08-02 07:56:38 +00:00
< center >< span class = "legend" > [< a target = "top" href = "graph_legend.html" > legend</ a > ]</ span ></ center ></ div >
2026-08-02 01:36:11 +00:00
< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a1c56201636ca62765078dc7811ceea6c" id = "r_a1c56201636ca62765078dc7811ceea6c" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a1c56201636ca62765078dc7811ceea6c" name = "a1c56201636ca62765078dc7811ceea6c" ></ a >
2026-08-02 07:56:38 +00:00
  </ td >< td class = "memItemRight" valign = "bottom" >< b > OctoMap</ b > (const < a class = "el" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a > *< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80" > cache</ a > , const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
2026-08-02 01:36:11 +00:00
< tr class = "separator:a1c56201636ca62765078dc7811ceea6c" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aac3446ba54729e6564299604da8f885b" id = "r_aac3446ba54729e6564299604da8f885b" >< td class = "memItemLeft" align = "right" valign = "top" > const < a class = "el" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > *  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OctoMap.html#aac3446ba54729e6564299604da8f885b" > octree</ a > () const</ td ></ tr >
< tr class = "separator:aac3446ba54729e6564299604da8f885b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a78a0b139684f86a137a87c207418c51c" id = "r_a78a0b139684f86a137a87c207418c51c" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a78a0b139684f86a137a87c207418c51c" name = "a78a0b139684f86a137a87c207418c51c" ></ a >
pcl::PointCloud< pcl::PointXYZRGB > ::Ptr  </ td >< td class = "memItemRight" valign = "bottom" >< b > createCloud</ b > (unsigned int treeDepth=0, std::vector< int > *obstacleIndices=0, std::vector< int > *emptyIndices=0, std::vector< int > *groundIndices=0, bool originalRefPoints=true, std::vector< int > *frontierIndices=0, std::vector< double > *cloudProb=0) const</ td ></ tr >
< tr class = "separator:a78a0b139684f86a137a87c207418c51c" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5efeb4f4e403ca4f48288a61aff87301" id = "r_a5efeb4f4e403ca4f48288a61aff87301" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a5efeb4f4e403ca4f48288a61aff87301" name = "a5efeb4f4e403ca4f48288a61aff87301" ></ a >
cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > createProjectionMap</ b > (float & xMin, float & yMin, float & gridCellSize, float minGridSize=0.0f, unsigned int treeDepth=0)</ td ></ tr >
< tr class = "separator:a5efeb4f4e403ca4f48288a61aff87301" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa700c7e14abc733760f8827976a8eccd" id = "r_aa700c7e14abc733760f8827976a8eccd" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aa700c7e14abc733760f8827976a8eccd" name = "aa700c7e14abc733760f8827976a8eccd" ></ a >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > writeBinary</ b > (const std::string & path)</ td ></ tr >
< tr class = "separator:aa700c7e14abc733760f8827976a8eccd" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a6f9f296f3d5852f749c88291fa11d70f" id = "r_a6f9f296f3d5852f749c88291fa11d70f" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OctoMap.html#a6f9f296f3d5852f749c88291fa11d70f" > clear</ a > ()</ td ></ tr >
< tr class = "memdesc:a6f9f296f3d5852f749c88291fa11d70f" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Clears assembled nodes and grid bounds; does not clear < a class = "el" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a > . < br /></ td ></ tr >
< tr class = "separator:a6f9f296f3d5852f749c88291fa11d70f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab4706881eee755cf58312859e6a3af89" id = "r_ab4706881eee755cf58312859e6a3af89" >< td class = "memItemLeft" align = "right" valign = "top" > virtual unsigned long  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OctoMap.html#ab4706881eee755cf58312859e6a3af89" > getMemoryUsed</ a > () const</ td ></ tr >
< tr class = "memdesc:ab4706881eee755cf58312859e6a3af89" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Approximate memory used by assembled-node bookkeeping (bytes). < br /></ td ></ tr >
< tr class = "separator:ab4706881eee755cf58312859e6a3af89" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a131b9216a1eb1028861a34cf2d1cb03b" id = "r_a131b9216a1eb1028861a34cf2d1cb03b" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OctoMap.html#a131b9216a1eb1028861a34cf2d1cb03b" > hasColor</ a > () const</ td ></ tr >
< tr class = "separator:a131b9216a1eb1028861a34cf2d1cb03b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_methods_classrtabmap_1_1GlobalMap" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classrtabmap_1_1GlobalMap')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classrtabmap_1_1GlobalMap.html" > rtabmap::GlobalMap</ a ></ td ></ tr >
< tr class = "memitem:a11e9ba83337edf7f08f3c50064be028a inherit pub_methods_classrtabmap_1_1GlobalMap" id = "r_a11e9ba83337edf7f08f3c50064be028a" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a11e9ba83337edf7f08f3c50064be028a" > fullUpdateNeeded</ a > (const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & poses) const</ td ></ tr >
< tr class = "memdesc:a11e9ba83337edf7f08f3c50064be028a inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > True if the map should be rebuilt from cache (loop closure or disjoint graph). < br /></ td ></ tr >
< tr class = "separator:a11e9ba83337edf7f08f3c50064be028a inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa21a1e3baba94ded5663a8057a3b8cd6 inherit pub_methods_classrtabmap_1_1GlobalMap" id = "r_aa21a1e3baba94ded5663a8057a3b8cd6" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#aa21a1e3baba94ded5663a8057a3b8cd6" > update</ a > (const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & poses)</ td ></ tr >
< tr class = "memdesc:aa21a1e3baba94ded5663a8057a3b8cd6 inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Incrementally assemble new nodes from < code > poses</ code > . < br /></ td ></ tr >
< tr class = "separator:aa21a1e3baba94ded5663a8057a3b8cd6 inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a445f18d347d5624a012f756eb9fe5320 inherit pub_methods_classrtabmap_1_1GlobalMap" id = "r_a445f18d347d5624a012f756eb9fe5320" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a445f18d347d5624a012f756eb9fe5320" > getCellSize</ a > () const</ td ></ tr >
< tr class = "separator:a445f18d347d5624a012f756eb9fe5320 inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a99c3840a89e76a091cf59cfaf1a8bcc4 inherit pub_methods_classrtabmap_1_1GlobalMap" id = "r_a99c3840a89e76a091cf59cfaf1a8bcc4" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a99c3840a89e76a091cf59cfaf1a8bcc4" > getUpdateError</ a > () const</ td ></ tr >
< tr class = "separator:a99c3840a89e76a091cf59cfaf1a8bcc4 inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a98c2c10030cfa64c1b72d17f046243f4 inherit pub_methods_classrtabmap_1_1GlobalMap" id = "r_a98c2c10030cfa64c1b72d17f046243f4" >< td class = "memItemLeft" align = "right" valign = "top" > const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a98c2c10030cfa64c1b72d17f046243f4" > addedNodes</ a > () const</ td ></ tr >
< tr class = "separator:a98c2c10030cfa64c1b72d17f046243f4 inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aaf028c4c070aa8568eaaf3dae4b926ee inherit pub_methods_classrtabmap_1_1GlobalMap" id = "r_aaf028c4c070aa8568eaaf3dae4b926ee" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#aaf028c4c070aa8568eaaf3dae4b926ee" > getGridMin</ a > (double & x, double & y) const</ td ></ tr >
< tr class = "memdesc:aaf028c4c070aa8568eaaf3dae4b926ee inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > 2D grid minimum (x, y) in meters. < br /></ td ></ tr >
< tr class = "separator:aaf028c4c070aa8568eaaf3dae4b926ee inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa840b2e62893de929f952b8511df6164 inherit pub_methods_classrtabmap_1_1GlobalMap" id = "r_aa840b2e62893de929f952b8511df6164" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#aa840b2e62893de929f952b8511df6164" > getGridMax</ a > (double & x, double & y) const</ td ></ tr >
< tr class = "memdesc:aa840b2e62893de929f952b8511df6164 inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > 2D grid maximum (x, y) in meters. < br /></ td ></ tr >
< tr class = "separator:aa840b2e62893de929f952b8511df6164 inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a37adbbb0e80ba76cfa080cec9811cca3 inherit pub_methods_classrtabmap_1_1GlobalMap" id = "r_a37adbbb0e80ba76cfa080cec9811cca3" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a37adbbb0e80ba76cfa080cec9811cca3" > getGridMin</ a > (double & x, double & y, double & z) const</ td ></ tr >
< tr class = "memdesc:a37adbbb0e80ba76cfa080cec9811cca3 inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > 3D grid minimum (x, y, z) in meters. < br /></ td ></ tr >
< tr class = "separator:a37adbbb0e80ba76cfa080cec9811cca3 inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a060366742fc8f51deaf7dd75b66615c7 inherit pub_methods_classrtabmap_1_1GlobalMap" id = "r_a060366742fc8f51deaf7dd75b66615c7" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a060366742fc8f51deaf7dd75b66615c7" > getGridMax</ a > (double & x, double & y, double & z) const</ td ></ tr >
< tr class = "memdesc:a060366742fc8f51deaf7dd75b66615c7 inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > 3D grid maximum (x, y, z) in meters. < br /></ td ></ tr >
< tr class = "separator:a060366742fc8f51deaf7dd75b66615c7 inherit pub_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-static-methods" name = "pub-static-methods" ></ a >
Static Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:af89b04f78f424920ca1000bb49e01cc9" id = "r_af89b04f78f424920ca1000bb49e01cc9" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "af89b04f78f424920ca1000bb49e01cc9" name = "af89b04f78f424920ca1000bb49e01cc9" ></ a >
static std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash >  </ td >< td class = "memItemRight" valign = "bottom" >< b > findEmptyNode</ b > (< a class = "el" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > *octree_, unsigned int treeDepth, octomap::point3d startPosition)</ td ></ tr >
< tr class = "separator:af89b04f78f424920ca1000bb49e01cc9" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab7c1497bbce6f5d2efc1a096bf39d25a" id = "r_ab7c1497bbce6f5d2efc1a096bf39d25a" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ab7c1497bbce6f5d2efc1a096bf39d25a" name = "ab7c1497bbce6f5d2efc1a096bf39d25a" ></ a >
static void  </ td >< td class = "memItemRight" valign = "bottom" >< b > floodFill</ b > (< a class = "el" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > *octree_, unsigned int treeDepth, octomap::point3d startPosition, std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > & EmptyNodes, std::queue< octomap::point3d > & positionToExplore)</ td ></ tr >
< tr class = "separator:ab7c1497bbce6f5d2efc1a096bf39d25a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a885a4a8f709be98ac746a44bf9a2baf9" id = "r_a885a4a8f709be98ac746a44bf9a2baf9" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a885a4a8f709be98ac746a44bf9a2baf9" name = "a885a4a8f709be98ac746a44bf9a2baf9" ></ a >
static bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isNodeVisited</ b > (std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > const & EmptyNodes, octomap::OcTreeKey const key)</ td ></ tr >
< tr class = "separator:a885a4a8f709be98ac746a44bf9a2baf9" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a733a24ee8c9e4905ac419a3b777d705b" id = "r_a733a24ee8c9e4905ac419a3b777d705b" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a733a24ee8c9e4905ac419a3b777d705b" name = "a733a24ee8c9e4905ac419a3b777d705b" ></ a >
static octomap::point3d  </ td >< td class = "memItemRight" valign = "bottom" >< b > findCloseEmpty</ b > (< a class = "el" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > *octree_, unsigned int treeDepth, octomap::point3d startPosition)</ td ></ tr >
< tr class = "separator:a733a24ee8c9e4905ac419a3b777d705b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a9a5d17027fbcac4990d1f9c3c4a2d2d4" id = "r_a9a5d17027fbcac4990d1f9c3c4a2d2d4" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a9a5d17027fbcac4990d1f9c3c4a2d2d4" name = "a9a5d17027fbcac4990d1f9c3c4a2d2d4" ></ a >
static bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isValidEmpty</ b > (< a class = "el" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > *octree_, unsigned int treeDepth, octomap::point3d startPosition)</ td ></ tr >
< tr class = "separator:a9a5d17027fbcac4990d1f9c3c4a2d2d4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_static_methods_classrtabmap_1_1GlobalMap" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_static_methods_classrtabmap_1_1GlobalMap')" >< img src = "closed.png" alt = "-" />   Static Public Member Functions inherited from < a class = "el" href = "classrtabmap_1_1GlobalMap.html" > rtabmap::GlobalMap</ a ></ td ></ tr >
< tr class = "memitem:aff0b3450ec3db63b9dcb140ff0cbe77a inherit pub_static_methods_classrtabmap_1_1GlobalMap" id = "r_aff0b3450ec3db63b9dcb140ff0cbe77a" >< td class = "memItemLeft" align = "right" valign = "top" > static float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#aff0b3450ec3db63b9dcb140ff0cbe77a" > logodds</ a > (double < a class = "el" href = "classrtabmap_1_1GlobalMap.html#a54fd556aa295938077539e85b2be829a" > probability</ a > )</ td ></ tr >
< tr class = "memdesc:aff0b3450ec3db63b9dcb140ff0cbe77a inherit pub_static_methods_classrtabmap_1_1GlobalMap" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Converts probability in (0, 1) to log-odds. < br /></ td ></ tr >
< tr class = "separator:aff0b3450ec3db63b9dcb140ff0cbe77a inherit pub_static_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a54fd556aa295938077539e85b2be829a inherit pub_static_methods_classrtabmap_1_1GlobalMap" id = "r_a54fd556aa295938077539e85b2be829a" >< td class = "memItemLeft" align = "right" valign = "top" > static double  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a54fd556aa295938077539e85b2be829a" > probability</ a > (double < a class = "el" href = "classrtabmap_1_1GlobalMap.html#aff0b3450ec3db63b9dcb140ff0cbe77a" > logodds</ a > )</ td ></ tr >
< tr class = "memdesc:a54fd556aa295938077539e85b2be829a inherit pub_static_methods_classrtabmap_1_1GlobalMap" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Converts log-odds back to probability in (0, 1). < br /></ td ></ tr >
< tr class = "separator:a54fd556aa295938077539e85b2be829a inherit pub_static_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pro-methods" name = "pro-methods" ></ a >
Protected Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:ac74a308322f3162307bfe73bfd60c2dd" id = "r_ac74a308322f3162307bfe73bfd60c2dd" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OctoMap.html#ac74a308322f3162307bfe73bfd60c2dd" > assemble</ a > (const std::list< std::pair< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > > & newPoses)</ td ></ tr >
< tr class = "memdesc:ac74a308322f3162307bfe73bfd60c2dd" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Subclass hook: merge < code > newPoses</ code > into the global map; call < a class = "el" href = "classrtabmap_1_1GlobalMap.html#a0b95370df2582da48ff0e1e405cccda2" > addAssembledNode()</ a > . < br /></ td ></ tr >
< tr class = "separator:ac74a308322f3162307bfe73bfd60c2dd" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classrtabmap_1_1GlobalMap" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classrtabmap_1_1GlobalMap')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classrtabmap_1_1GlobalMap.html" > rtabmap::GlobalMap</ a ></ td ></ tr >
2026-08-02 07:56:38 +00:00
< tr class = "memitem:a03581caaa2a313b131726af4e4a6b714 inherit pro_methods_classrtabmap_1_1GlobalMap" id = "r_a03581caaa2a313b131726af4e4a6b714" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a03581caaa2a313b131726af4e4a6b714" > GlobalMap</ a > (const < a class = "el" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a > *< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80" > cache</ a > , const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
2026-08-02 01:36:11 +00:00
< tr class = "memdesc:a03581caaa2a313b131726af4e4a6b714 inherit pro_methods_classrtabmap_1_1GlobalMap" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructs the base map; subclasses call from their constructor. < br /></ td ></ tr >
< tr class = "separator:a03581caaa2a313b131726af4e4a6b714 inherit pro_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a632f06ccce72bce66a9fd38d37f23b80 inherit pro_methods_classrtabmap_1_1GlobalMap" id = "r_a632f06ccce72bce66a9fd38d37f23b80" >< td class = "memItemLeft" align = "right" valign = "top" > const std::map< int, < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > > &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80" > cache</ a > () const</ td ></ tr >
< tr class = "separator:a632f06ccce72bce66a9fd38d37f23b80 inherit pro_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7fc3f43e65401d3842419066242e081d inherit pro_methods_classrtabmap_1_1GlobalMap" id = "r_a7fc3f43e65401d3842419066242e081d" >< td class = "memItemLeft" align = "right" valign = "top" > const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a7fc3f43e65401d3842419066242e081d" > assembledNodes</ a > () const</ td ></ tr >
< tr class = "separator:a7fc3f43e65401d3842419066242e081d inherit pro_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a9c853fcade3b4b9bd4f49b6a07025e6d inherit pro_methods_classrtabmap_1_1GlobalMap" id = "r_a9c853fcade3b4b9bd4f49b6a07025e6d" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a9c853fcade3b4b9bd4f49b6a07025e6d" > isNodeAssembled</ a > (int id)</ td ></ tr >
< tr class = "separator:a9c853fcade3b4b9bd4f49b6a07025e6d inherit pro_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0b95370df2582da48ff0e1e405cccda2 inherit pro_methods_classrtabmap_1_1GlobalMap" id = "r_a0b95370df2582da48ff0e1e405cccda2" >< td class = "memItemLeft" align = "right" valign = "top" >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > addAssembledNode</ b > (int id, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose)</ td ></ tr >
< tr class = "memdesc:a0b95370df2582da48ff0e1e405cccda2 inherit pro_methods_classrtabmap_1_1GlobalMap" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Records a successfully assembled node (ids < = 0 are ignored). < br /></ td ></ tr >
< tr class = "separator:a0b95370df2582da48ff0e1e405cccda2 inherit pro_methods_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "inherited" name = "inherited" ></ a >
Additional Inherited Members</ h2 ></ td ></ tr >
< tr class = "inherit_header pro_attribs_classrtabmap_1_1GlobalMap" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_attribs_classrtabmap_1_1GlobalMap')" >< img src = "closed.png" alt = "-" />   Protected Attributes inherited from < a class = "el" href = "classrtabmap_1_1GlobalMap.html" > rtabmap::GlobalMap</ a ></ td ></ tr >
< tr class = "memitem:ae9f370b9f18f836e3c95bafe0c71d5f9 inherit pro_attribs_classrtabmap_1_1GlobalMap" id = "r_ae9f370b9f18f836e3c95bafe0c71d5f9" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#ae9f370b9f18f836e3c95bafe0c71d5f9" > cellSize_</ a ></ td ></ tr >
< tr class = "separator:ae9f370b9f18f836e3c95bafe0c71d5f9 inherit pro_attribs_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2b5471c36fb21ba070df25cd0e75dd04 inherit pro_attribs_classrtabmap_1_1GlobalMap" id = "r_a2b5471c36fb21ba070df25cd0e75dd04" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a2b5471c36fb21ba070df25cd0e75dd04" > updateError_</ a ></ td ></ tr >
< tr class = "separator:a2b5471c36fb21ba070df25cd0e75dd04 inherit pro_attribs_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ae9fba67994a1789cc317c34e3a749bc4 inherit pro_attribs_classrtabmap_1_1GlobalMap" id = "r_ae9fba67994a1789cc317c34e3a749bc4" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#ae9fba67994a1789cc317c34e3a749bc4" > occupancyThr_</ a ></ td ></ tr >
< tr class = "separator:ae9fba67994a1789cc317c34e3a749bc4 inherit pro_attribs_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a13f2d13b5cec35a927cf5869904babf6 inherit pro_attribs_classrtabmap_1_1GlobalMap" id = "r_a13f2d13b5cec35a927cf5869904babf6" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a13f2d13b5cec35a927cf5869904babf6" > logOddsHit_</ a ></ td ></ tr >
< tr class = "separator:a13f2d13b5cec35a927cf5869904babf6 inherit pro_attribs_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a556a9f454e138e0f5891afacf49c7114 inherit pro_attribs_classrtabmap_1_1GlobalMap" id = "r_a556a9f454e138e0f5891afacf49c7114" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a556a9f454e138e0f5891afacf49c7114" > logOddsMiss_</ a ></ td ></ tr >
< tr class = "separator:a556a9f454e138e0f5891afacf49c7114 inherit pro_attribs_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a36e4de6037c1a9a863515ac890be257e inherit pro_attribs_classrtabmap_1_1GlobalMap" id = "r_a36e4de6037c1a9a863515ac890be257e" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a36e4de6037c1a9a863515ac890be257e" > logOddsClampingMin_</ a ></ td ></ tr >
< tr class = "separator:a36e4de6037c1a9a863515ac890be257e inherit pro_attribs_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1ff9968528c6848e096910d38298df07 inherit pro_attribs_classrtabmap_1_1GlobalMap" id = "r_a1ff9968528c6848e096910d38298df07" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a1ff9968528c6848e096910d38298df07" > logOddsClampingMax_</ a ></ td ></ tr >
< tr class = "separator:a1ff9968528c6848e096910d38298df07 inherit pro_attribs_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a604273034598358d7d2ce8166db3bb46 inherit pro_attribs_classrtabmap_1_1GlobalMap" id = "r_a604273034598358d7d2ce8166db3bb46" >< td class = "memItemLeft" align = "right" valign = "top" > double  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a604273034598358d7d2ce8166db3bb46" > minValues_</ a > [3]</ td ></ tr >
< tr class = "separator:a604273034598358d7d2ce8166db3bb46 inherit pro_attribs_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afa437824f1ccbe1c88c4f11dd18d2186 inherit pro_attribs_classrtabmap_1_1GlobalMap" id = "r_afa437824f1ccbe1c88c4f11dd18d2186" >< td class = "memItemLeft" align = "right" valign = "top" > double  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#afa437824f1ccbe1c88c4f11dd18d2186" > maxValues_</ a > [3]</ td ></ tr >
< tr class = "separator:afa437824f1ccbe1c88c4f11dd18d2186 inherit pro_attribs_classrtabmap_1_1GlobalMap" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >
< p class = "definition" > Definition at line < a class = "el" href = "global__map_2OctoMap_8h_source.html#l00175" > 175</ a > of file < a class = "el" href = "global__map_2OctoMap_8h_source.html" > OctoMap.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "aac3446ba54729e6564299604da8f885b" name = "aac3446ba54729e6564299604da8f885b" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aac3446ba54729e6564299604da8f885b" > ◆  </ a ></ span > octree()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > const < a class = "el" href = "classrtabmap_1_1RtabmapColorOcTree.html" > RtabmapColorOcTree</ a > * rtabmap::OctoMap::octree </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "global__map_2OctoMap_8h_source.html#l00179" > 179</ a > of file < a class = "el" href = "global__map_2OctoMap_8h_source.html" > OctoMap.h</ a > .</ p >
</ div >
</ div >
< a id = "a6f9f296f3d5852f749c88291fa11d70f" name = "a6f9f296f3d5852f749c88291fa11d70f" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a6f9f296f3d5852f749c88291fa11d70f" > ◆  </ a ></ span > clear()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > virtual void rtabmap::OctoMap::clear </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > virtual</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Clears assembled nodes and grid bounds; does not clear < a class = "el" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a > . </ p >
< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213" > rtabmap::GlobalMap</ a > .</ p >
</ div >
</ div >
< a id = "ab4706881eee755cf58312859e6a3af89" name = "ab4706881eee755cf58312859e6a3af89" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ab4706881eee755cf58312859e6a3af89" > ◆  </ a ></ span > getMemoryUsed()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > virtual unsigned long rtabmap::OctoMap::getMemoryUsed </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > virtual</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Approximate memory used by assembled-node bookkeeping (bytes). </ p >
< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1GlobalMap.html#a20031690daf7a7e9195ae97abf46522b" > rtabmap::GlobalMap</ a > .</ p >
</ div >
</ div >
< a id = "a131b9216a1eb1028861a34cf2d1cb03b" name = "a131b9216a1eb1028861a34cf2d1cb03b" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a131b9216a1eb1028861a34cf2d1cb03b" > ◆  </ a ></ span > hasColor()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > bool rtabmap::OctoMap::hasColor </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "global__map_2OctoMap_8h_source.html#l00203" > 203</ a > of file < a class = "el" href = "global__map_2OctoMap_8h_source.html" > OctoMap.h</ a > .</ p >
</ div >
</ div >
< a id = "ac74a308322f3162307bfe73bfd60c2dd" name = "ac74a308322f3162307bfe73bfd60c2dd" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ac74a308322f3162307bfe73bfd60c2dd" > ◆  </ a ></ span > assemble()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > virtual void rtabmap::OctoMap::assemble </ td >
< td > (</ td >
< td class = "paramtype" > const std::list< std::pair< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > > &  </ td >
< td class = "paramname" >< em > newPoses</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > protected</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Subclass hook: merge < code > newPoses</ code > into the global map; call < a class = "el" href = "classrtabmap_1_1GlobalMap.html#a0b95370df2582da48ff0e1e405cccda2" > addAssembledNode()</ a > . </ p >
< p > Implements < a class = "el" href = "classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f" > rtabmap::GlobalMap</ a > .</ p >
</ div >
</ div >
< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/global_map/< a class = "el" href = "global__map_2OctoMap_8h_source.html" > OctoMap.h</ a ></ li >
</ ul >
</ div > <!-- contents -->
2026-08-02 07:56:38 +00:00
</ div > <!-- doc-content -->
2026-08-02 01:36:11 +00:00
<!-- start footer part -->
2026-08-02 07:56:38 +00:00
< div id = "nav-path" class = "navpath" > <!-- id is needed for treeview function! -->
< ul >
< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1OctoMap.html" > OctoMap</ a ></ li >
< li class = "footer" > Generated by < a href = "https://www.doxygen.org/index.html" >< img class = "footer" src = "doxygen.svg" width = "104" height = "31" alt = "doxygen" /></ a > 1.9.8 </ li >
</ ul >
</ div >
2026-08-02 01:36:11 +00:00
</ body >
</ html >
