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< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.13</ span >
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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pro-methods" > Protected Member Functions</ a > |
< a href = "classrtabmap_1_1CloudMap-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::CloudMap Class Reference</ div ></ div >
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Inheritance diagram for rtabmap::CloudMap:</ div >
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Collaboration diagram for rtabmap::CloudMap:</ div >
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< 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:ad3aca8cab2f5d041e02be5a7ca04faf4" id = "r_ad3aca8cab2f5d041e02be5a7ca04faf4" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ad3aca8cab2f5d041e02be5a7ca04faf4" name = "ad3aca8cab2f5d041e02be5a7ca04faf4" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > CloudMap</ 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 >
< tr class = "separator:ad3aca8cab2f5d041e02be5a7ca04faf4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a3e2089cb30bd4efbee1ede0c041ee4af" id = "r_a3e2089cb30bd4efbee1ede0c041ee4af" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CloudMap.html#a3e2089cb30bd4efbee1ede0c041ee4af" > clear</ a > ()</ td ></ tr >
< tr class = "memdesc:a3e2089cb30bd4efbee1ede0c041ee4af" >< 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:a3e2089cb30bd4efbee1ede0c041ee4af" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab8c4eb633f893d969a053413be3f23cf" id = "r_ab8c4eb633f893d969a053413be3f23cf" >< td class = "memItemLeft" align = "right" valign = "top" > const pcl::PointCloud< pcl::PointXYZRGB > ::Ptr &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CloudMap.html#ab8c4eb633f893d969a053413be3f23cf" > getMapGround</ a > () const</ td ></ tr >
< tr class = "separator:ab8c4eb633f893d969a053413be3f23cf" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a65dea59d0a82f79c76a2969cbe047d84" id = "r_a65dea59d0a82f79c76a2969cbe047d84" >< td class = "memItemLeft" align = "right" valign = "top" > const pcl::PointCloud< pcl::PointXYZRGB > ::Ptr &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CloudMap.html#a65dea59d0a82f79c76a2969cbe047d84" > getMapObstacles</ a > () const</ td ></ tr >
< tr class = "separator:a65dea59d0a82f79c76a2969cbe047d84" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a3b2b92a7164533576866254311353542" id = "r_a3b2b92a7164533576866254311353542" >< td class = "memItemLeft" align = "right" valign = "top" > const pcl::PointCloud< pcl::PointXYZ > ::Ptr &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CloudMap.html#a3b2b92a7164533576866254311353542" > getMapEmptyCells</ a > () const</ td ></ tr >
< tr class = "separator:a3b2b92a7164533576866254311353542" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a18a2dd71488719960f06eb4ae5e2cf4b" id = "r_a18a2dd71488719960f06eb4ae5e2cf4b" >< td class = "memItemLeft" align = "right" valign = "top" > unsigned long  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CloudMap.html#a18a2dd71488719960f06eb4ae5e2cf4b" > getMemoryUsed</ a > () const</ td ></ tr >
< tr class = "memdesc:a18a2dd71488719960f06eb4ae5e2cf4b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Approximate memory used by assembled-node bookkeeping (bytes). < br /></ td ></ tr >
< tr class = "separator:a18a2dd71488719960f06eb4ae5e2cf4b" >< 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 = "pro-methods" name = "pro-methods" ></ a >
Protected Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a58b2f9f2a99fe3ab14ba73603e3d4f68" id = "r_a58b2f9f2a99fe3ab14ba73603e3d4f68" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CloudMap.html#a58b2f9f2a99fe3ab14ba73603e3d4f68" > assemble</ a > (const std::list< std::pair< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > > & newPoses)</ td ></ tr >
< tr class = "memdesc:a58b2f9f2a99fe3ab14ba73603e3d4f68" >< 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:a58b2f9f2a99fe3ab14ba73603e3d4f68" >< 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 >
< 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 >
< 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 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 >
< 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 = "CloudMap_8h_source.html#l00040" > 40</ a > of file < a class = "el" href = "CloudMap_8h_source.html" > CloudMap.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a3e2089cb30bd4efbee1ede0c041ee4af" name = "a3e2089cb30bd4efbee1ede0c041ee4af" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a3e2089cb30bd4efbee1ede0c041ee4af" > ◆  </ a ></ span > clear()</ h2 >
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< td class = "memname" > virtual void rtabmap::CloudMap::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 = "ab8c4eb633f893d969a053413be3f23cf" name = "ab8c4eb633f893d969a053413be3f23cf" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ab8c4eb633f893d969a053413be3f23cf" > ◆  </ a ></ span > getMapGround()</ h2 >
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< td class = "memname" > const pcl::PointCloud< pcl::PointXYZRGB > ::Ptr & rtabmap::CloudMap::getMapGround </ 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 = "CloudMap_8h_source.html#l00047" > 47</ a > of file < a class = "el" href = "CloudMap_8h_source.html" > CloudMap.h</ a > .</ p >
</ div >
</ div >
< a id = "a65dea59d0a82f79c76a2969cbe047d84" name = "a65dea59d0a82f79c76a2969cbe047d84" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a65dea59d0a82f79c76a2969cbe047d84" > ◆  </ a ></ span > getMapObstacles()</ h2 >
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< td class = "memname" > const pcl::PointCloud< pcl::PointXYZRGB > ::Ptr & rtabmap::CloudMap::getMapObstacles </ 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 = "CloudMap_8h_source.html#l00048" > 48</ a > of file < a class = "el" href = "CloudMap_8h_source.html" > CloudMap.h</ a > .</ p >
</ div >
</ div >
< a id = "a3b2b92a7164533576866254311353542" name = "a3b2b92a7164533576866254311353542" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a3b2b92a7164533576866254311353542" > ◆  </ a ></ span > getMapEmptyCells()</ h2 >
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< td class = "memname" > const pcl::PointCloud< pcl::PointXYZ > ::Ptr & rtabmap::CloudMap::getMapEmptyCells </ 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 = "CloudMap_8h_source.html#l00049" > 49</ a > of file < a class = "el" href = "CloudMap_8h_source.html" > CloudMap.h</ a > .</ p >
</ div >
</ div >
< a id = "a18a2dd71488719960f06eb4ae5e2cf4b" name = "a18a2dd71488719960f06eb4ae5e2cf4b" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a18a2dd71488719960f06eb4ae5e2cf4b" > ◆  </ a ></ span > getMemoryUsed()</ h2 >
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< td class = "memname" > unsigned long rtabmap::CloudMap::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 = "a58b2f9f2a99fe3ab14ba73603e3d4f68" name = "a58b2f9f2a99fe3ab14ba73603e3d4f68" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a58b2f9f2a99fe3ab14ba73603e3d4f68" > ◆  </ a ></ span > assemble()</ h2 >
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< td class = "memname" > virtual void rtabmap::CloudMap::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 = "CloudMap_8h_source.html" > CloudMap.h</ a ></ li >
</ ul >
</ div > <!-- contents -->
</ div > <!-- doc-content -->
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< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1CloudMap.html" > CloudMap</ 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 >
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