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2026-09-28 16:36:22 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.13</ span >
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< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
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< 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 = "#pro-attribs" > Protected Attributes</ a > |
< a href = "classrtabmap_1_1GlobalMap-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::GlobalMap Class Reference< span class = "mlabels" >< span class = "mlabel" > abstract</ span ></ span ></ div ></ div >
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< p > Abstract base for assembling per-node < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > data into a global map.
< a href = "classrtabmap_1_1GlobalMap.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > > </ code ></ p >
< div class = "dynheader" >
Inheritance diagram for rtabmap::GlobalMap:</ div >
< div class = "dyncontent" >
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</ map >
< center >< span class = "legend" > [< a target = "top" href = "graph_legend.html" > legend</ a > ]</ span ></ center ></ div >
< 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:a11e9ba83337edf7f08f3c50064be028a" 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" >< 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" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa21a1e3baba94ded5663a8057a3b8cd6" 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" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Incrementally assemble new nodes from < code > poses</ code > . < br /></ td ></ tr >
< tr class = "separator:aa21a1e3baba94ded5663a8057a3b8cd6" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa6701a09e2532877e73d5b1ba8cb1213" id = "r_aa6701a09e2532877e73d5b1ba8cb1213" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213" > clear</ a > ()</ td ></ tr >
< tr class = "memdesc:aa6701a09e2532877e73d5b1ba8cb1213" >< 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:aa6701a09e2532877e73d5b1ba8cb1213" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a445f18d347d5624a012f756eb9fe5320" 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" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a99c3840a89e76a091cf59cfaf1a8bcc4" 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" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a98c2c10030cfa64c1b72d17f046243f4" 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" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aaf028c4c070aa8568eaaf3dae4b926ee" 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" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > 2D grid minimum (x, y) in meters. < br /></ td ></ tr >
< tr class = "separator:aaf028c4c070aa8568eaaf3dae4b926ee" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa840b2e62893de929f952b8511df6164" 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" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > 2D grid maximum (x, y) in meters. < br /></ td ></ tr >
< tr class = "separator:aa840b2e62893de929f952b8511df6164" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a37adbbb0e80ba76cfa080cec9811cca3" 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" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > 3D grid minimum (x, y, z) in meters. < br /></ td ></ tr >
< tr class = "separator:a37adbbb0e80ba76cfa080cec9811cca3" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a060366742fc8f51deaf7dd75b66615c7" 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" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > 3D grid maximum (x, y, z) in meters. < br /></ td ></ tr >
< tr class = "separator:a060366742fc8f51deaf7dd75b66615c7" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a20031690daf7a7e9195ae97abf46522b" id = "r_a20031690daf7a7e9195ae97abf46522b" >< td class = "memItemLeft" align = "right" valign = "top" > virtual unsigned long  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#a20031690daf7a7e9195ae97abf46522b" > getMemoryUsed</ a > () const</ td ></ tr >
< tr class = "memdesc:a20031690daf7a7e9195ae97abf46522b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Approximate memory used by assembled-node bookkeeping (bytes). < br /></ td ></ tr >
< tr class = "separator:a20031690daf7a7e9195ae97abf46522b" >< 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:aff0b3450ec3db63b9dcb140ff0cbe77a" 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" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Converts probability in (0, 1) to log-odds. < br /></ td ></ tr >
< tr class = "separator:aff0b3450ec3db63b9dcb140ff0cbe77a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a54fd556aa295938077539e85b2be829a" 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" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Converts log-odds back to probability in (0, 1). < br /></ td ></ tr >
< tr class = "separator:a54fd556aa295938077539e85b2be829a" >< 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:a03581caaa2a313b131726af4e4a6b714" 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" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructs the base map; subclasses call from their constructor. < br /></ td ></ tr >
< tr class = "separator:a03581caaa2a313b131726af4e4a6b714" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ae622850e2447bf1cc3e99ee9dcd4b65f" id = "r_ae622850e2447bf1cc3e99ee9dcd4b65f" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f" > assemble</ a > (const std::list< std::pair< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > > & newPoses)=0</ td ></ tr >
< tr class = "memdesc:ae622850e2447bf1cc3e99ee9dcd4b65f" >< 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:ae622850e2447bf1cc3e99ee9dcd4b65f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a632f06ccce72bce66a9fd38d37f23b80" 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" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7fc3f43e65401d3842419066242e081d" 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" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a9c853fcade3b4b9bd4f49b6a07025e6d" 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" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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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" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Records a successfully assembled node (ids < = 0 are ignored). < br /></ td ></ tr >
< tr class = "separator:a0b95370df2582da48ff0e1e405cccda2" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pro-attribs" name = "pro-attribs" ></ a >
Protected Attributes</ h2 ></ td ></ tr >
< tr class = "memitem:ae9f370b9f18f836e3c95bafe0c71d5f9" 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" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "separator:ae9fba67994a1789cc317c34e3a749bc4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a13f2d13b5cec35a927cf5869904babf6" 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" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a556a9f454e138e0f5891afacf49c7114" 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" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a36e4de6037c1a9a863515ac890be257e" 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" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "separator:a1ff9968528c6848e096910d38298df07" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a604273034598358d7d2ce8166db3bb46" 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 >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Abstract base for assembling per-node < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > data into a global map. </ p >
< p > Subclasses (< a class = "el" href = "classrtabmap_1_1OccupancyGrid.html" > OccupancyGrid</ a > , < a class = "el" href = "classrtabmap_1_1OctoMap.html" > OctoMap</ a > , < a class = "el" href = "classrtabmap_1_1GridMap.html" > GridMap</ a > , < a class = "el" href = "classrtabmap_1_1CloudMap.html" > CloudMap</ a > ) implement < a class = "el" href = "classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f" > assemble()</ a > to merge new node poses from < a class = "el" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a > into their representation.</ p >
< p >< a class = "el" href = "classrtabmap_1_1GlobalMap.html#aa21a1e3baba94ded5663a8057a3b8cd6" > update()</ a > decides which poses need assembly (not yet in < a class = "el" href = "classrtabmap_1_1GlobalMap.html#a98c2c10030cfa64c1b72d17f046243f4" > addedNodes()</ a > , present in cache, id > 0) and may call < a class = "el" href = "classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213" > clear()</ a > when < a class = "el" href = "classrtabmap_1_1GlobalMap.html#a11e9ba83337edf7f08f3c50064be028a" > fullUpdateNeeded()</ a > detects graph optimization or a disjoint pose set (see < a class = "el" href = "classrtabmap_1_1Parameters.html#ad8552e70b80bf9406fd87c807e6134b9" > Parameters::kGridGlobalUpdateError()</ a > ).</ p >
< p > Log-odds helpers < a class = "el" href = "classrtabmap_1_1GlobalMap.html#aff0b3450ec3db63b9dcb140ff0cbe77a" > logodds()</ a > and < a class = "el" href = "classrtabmap_1_1GlobalMap.html#a54fd556aa295938077539e85b2be829a" > probability()</ a > convert between occupancy probability and the internal log-odds representation used for global hit/miss/clamping parameters (GridGlobal/Prob*). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00055" > 55</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
< a id = "a03581caaa2a313b131726af4e4a6b714" name = "a03581caaa2a313b131726af4e4a6b714" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a03581caaa2a313b131726af4e4a6b714" > ◆  </ a ></ span > GlobalMap()</ h2 >
< div class = "memitem" >
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< tr >
< td class = "mlabels-left" >
< table class = "memname" >
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< td class = "memname" > rtabmap::GlobalMap::GlobalMap </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a > *  </ td >
< td class = "paramname" >< em > cache</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > &  </ td >
< td class = "paramname" >< em > parameters</ em > = < code >< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ()</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > protected</ span ></ span > </ td >
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</ div >< div class = "memdoc" >
< p > Constructs the base map; subclasses call from their constructor. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > cache</ td >< td > Non-null cache of per-node local grids. </ td ></ tr >
< tr >< td class = "paramname" > parameters</ td >< td > Optional Grid/ and GridGlobal/ parameter overrides. </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "aff0b3450ec3db63b9dcb140ff0cbe77a" name = "aff0b3450ec3db63b9dcb140ff0cbe77a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aff0b3450ec3db63b9dcb140ff0cbe77a" > ◆  </ a ></ span > logodds()</ h2 >
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< td class = "memname" > static float rtabmap::GlobalMap::logodds </ td >
< td > (</ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > probability</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span >< span class = "mlabel" > static</ span ></ span > </ td >
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< p > Converts probability in (0, 1) to log-odds. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00059" > 59</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
</ div >
</ div >
< a id = "a54fd556aa295938077539e85b2be829a" name = "a54fd556aa295938077539e85b2be829a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a54fd556aa295938077539e85b2be829a" > ◆  </ a ></ span > probability()</ h2 >
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< td class = "memname" > static double rtabmap::GlobalMap::probability </ td >
< td > (</ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > logodds</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span >< span class = "mlabel" > static</ span ></ span > </ td >
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< p > Converts log-odds back to probability in (0, 1). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00065" > 65</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
</ div >
</ div >
< a id = "a11e9ba83337edf7f08f3c50064be028a" name = "a11e9ba83337edf7f08f3c50064be028a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a11e9ba83337edf7f08f3c50064be028a" > ◆  </ a ></ span > fullUpdateNeeded()</ h2 >
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< td class = "memname" > bool rtabmap::GlobalMap::fullUpdateNeeded </ td >
< td > (</ td >
< td class = "paramtype" > const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > &  </ td >
< td class = "paramname" >< em > poses</ em ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > True if the map should be rebuilt from cache (loop closure or disjoint graph). </ p >
< p > Compares < code > poses</ code > to < a class = "el" href = "classrtabmap_1_1GlobalMap.html#a98c2c10030cfa64c1b72d17f046243f4" > addedNodes()</ a > using < a class = "el" href = "classrtabmap_1_1GlobalMap.html#a99c3840a89e76a091cf59cfaf1a8bcc4" > getUpdateError()</ a > , which is set from < b > Grid/GlobalUpdateError</ b > (< code >< a class = "el" href = "classrtabmap_1_1Parameters.html#ad8552e70b80bf9406fd87c807e6134b9" title = "Key of parameter GridGlobal/UpdateError : "Graph changed detection error (m). Update map only if pose..." > Parameters::kGridGlobalUpdateError()</ a ></ code > ): if any assembled node's pose moved farther than that threshold (meters), or if none of the assembled nodes appear in < code > poses</ code > , returns true and < a class = "el" href = "classrtabmap_1_1GlobalMap.html#aa21a1e3baba94ded5663a8057a3b8cd6" > update()</ a > will call < a class = "el" href = "classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213" > clear()</ a > first.</ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > poses</ td >< td > Current graph poses (node id → transform). </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< a id = "aa21a1e3baba94ded5663a8057a3b8cd6" name = "aa21a1e3baba94ded5663a8057a3b8cd6" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aa21a1e3baba94ded5663a8057a3b8cd6" > ◆  </ a ></ span > update()</ h2 >
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< td class = "memname" > bool rtabmap::GlobalMap::update </ td >
< td > (</ td >
< td class = "paramtype" > const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > &  </ td >
< td class = "paramname" >< em > poses</ em ></ td >< td > )</ td >
< td ></ td >
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< p > Incrementally assemble new nodes from < code > poses</ code > . </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > poses</ td >< td > Graph poses; ids > 0 with a cached < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > are candidates. </ td ></ tr >
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< dl class = "section return" >< dt > Returns</ dt >< dd > True if < a class = "el" href = "classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f" > assemble()</ a > was called (at least one new pose processed). </ dd ></ dl >
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< a id = "aa6701a09e2532877e73d5b1ba8cb1213" name = "aa6701a09e2532877e73d5b1ba8cb1213" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aa6701a09e2532877e73d5b1ba8cb1213" > ◆  </ a ></ span > clear()</ h2 >
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< td class = "memname" > virtual void rtabmap::GlobalMap::clear </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
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< span class = "mlabels" >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p > Clears assembled nodes and grid bounds; does not clear < a class = "el" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a > . </ p >
< p > Reimplemented in < a class = "el" href = "classrtabmap_1_1CloudMap.html#a3e2089cb30bd4efbee1ede0c041ee4af" > rtabmap::CloudMap</ a > , < a class = "el" href = "classrtabmap_1_1GridMap.html#a2a3b8ba591cf41da62e5486bb62b8f51" > rtabmap::GridMap</ a > , < a class = "el" href = "classrtabmap_1_1OccupancyGrid.html#a76e50602b4dea4a94b1e7e1db25c9177" > rtabmap::OccupancyGrid</ a > , and < a class = "el" href = "classrtabmap_1_1OctoMap.html#a6f9f296f3d5852f749c88291fa11d70f" > rtabmap::OctoMap</ a > .</ p >
</ div >
</ div >
< a id = "a445f18d347d5624a012f756eb9fe5320" name = "a445f18d347d5624a012f756eb9fe5320" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a445f18d347d5624a012f756eb9fe5320" > ◆  </ a ></ span > getCellSize()</ h2 >
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< td class = "memname" > float rtabmap::GlobalMap::getCellSize </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
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< dl class = "section return" >< dt > Returns</ dt >< dd > Grid cell size in meters (Grid/CellSize). </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00096" > 96</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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</ div >
< a id = "a99c3840a89e76a091cf59cfaf1a8bcc4" name = "a99c3840a89e76a091cf59cfaf1a8bcc4" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a99c3840a89e76a091cf59cfaf1a8bcc4" > ◆  </ a ></ span > getUpdateError()</ h2 >
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< td class = "memname" > float rtabmap::GlobalMap::getUpdateError </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< dl class = "section return" >< dt > Returns</ dt >< dd > Pose change threshold for full rebuild (Grid/GlobalUpdateError). </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00098" > 98</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a98c2c10030cfa64c1b72d17f046243f4" > ◆  </ a ></ span > addedNodes()</ h2 >
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< table class = "memname" >
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< td class = "memname" > const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & rtabmap::GlobalMap::addedNodes </ 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 >
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< dl class = "section return" >< dt > Returns</ dt >< dd > Poses of nodes already assembled into the global map. </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00100" > 100</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< a id = "aaf028c4c070aa8568eaaf3dae4b926ee" name = "aaf028c4c070aa8568eaaf3dae4b926ee" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aaf028c4c070aa8568eaaf3dae4b926ee" > ◆  </ a ></ span > getGridMin() < span class = "overload" > [1/2]</ span ></ h2 >
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< td class = "memname" > void rtabmap::GlobalMap::getGridMin </ td >
< td > (</ td >
< td class = "paramtype" > double &  </ td >
< td class = "paramname" >< em > x</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double &  </ td >
< td class = "paramname" >< em > y</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
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< p > 2D grid minimum (x, y) in meters. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00103" > 103</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< a id = "aa840b2e62893de929f952b8511df6164" name = "aa840b2e62893de929f952b8511df6164" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aa840b2e62893de929f952b8511df6164" > ◆  </ a ></ span > getGridMax() < span class = "overload" > [1/2]</ span ></ h2 >
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< td class = "memname" > void rtabmap::GlobalMap::getGridMax </ td >
< td > (</ td >
< td class = "paramtype" > double &  </ td >
< td class = "paramname" >< em > x</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
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< td class = "paramtype" > double &  </ td >
< td class = "paramname" >< em > y</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
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< p > 2D grid maximum (x, y) in meters. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00105" > 105</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< a id = "a37adbbb0e80ba76cfa080cec9811cca3" name = "a37adbbb0e80ba76cfa080cec9811cca3" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a37adbbb0e80ba76cfa080cec9811cca3" > ◆  </ a ></ span > getGridMin() < span class = "overload" > [2/2]</ span ></ h2 >
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< td class = "memname" > void rtabmap::GlobalMap::getGridMin </ td >
< td > (</ td >
< td class = "paramtype" > double &  </ td >
< td class = "paramname" >< em > x</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double &  </ td >
< td class = "paramname" >< em > y</ em > , </ td >
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< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double &  </ td >
< td class = "paramname" >< em > z</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
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< p > 3D grid minimum (x, y, z) in meters. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00107" > 107</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a060366742fc8f51deaf7dd75b66615c7" > ◆  </ a ></ span > getGridMax() < span class = "overload" > [2/2]</ span ></ h2 >
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< td class = "memname" > void rtabmap::GlobalMap::getGridMax </ td >
< td > (</ td >
< td class = "paramtype" > double &  </ td >
< td class = "paramname" >< em > x</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double &  </ td >
< td class = "paramname" >< em > y</ em > , </ td >
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< td class = "paramkey" ></ td >
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< td class = "paramtype" > double &  </ td >
< td class = "paramname" >< em > z</ em >   </ td >
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< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
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< p > 3D grid maximum (x, y, z) in meters. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00109" > 109</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a20031690daf7a7e9195ae97abf46522b" > ◆  </ a ></ span > getMemoryUsed()</ h2 >
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< td class = "memname" > virtual unsigned long rtabmap::GlobalMap::getMemoryUsed </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< span class = "mlabels" >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p > Approximate memory used by assembled-node bookkeeping (bytes). </ p >
< p > Reimplemented in < a class = "el" href = "classrtabmap_1_1CloudMap.html#a18a2dd71488719960f06eb4ae5e2cf4b" > rtabmap::CloudMap</ a > , < a class = "el" href = "classrtabmap_1_1OccupancyGrid.html#a06bee0b73df176bd0ab6495e22992d7f" > rtabmap::OccupancyGrid</ a > , and < a class = "el" href = "classrtabmap_1_1OctoMap.html#ab4706881eee755cf58312859e6a3af89" > rtabmap::OctoMap</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ae622850e2447bf1cc3e99ee9dcd4b65f" > ◆  </ a ></ span > assemble()</ h2 >
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< td class = "memname" > virtual void rtabmap::GlobalMap::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 >
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< span class = "mlabels" >< span class = "mlabel" > protected</ span >< span class = "mlabel" > pure virtual</ span ></ span > </ td >
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< 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 > Implemented in < a class = "el" href = "classrtabmap_1_1CloudMap.html#a58b2f9f2a99fe3ab14ba73603e3d4f68" > rtabmap::CloudMap</ a > , < a class = "el" href = "classrtabmap_1_1GridMap.html#a57ad9df30e61345ec23a45bcda0f2e93" > rtabmap::GridMap</ a > , < a class = "el" href = "classrtabmap_1_1OccupancyGrid.html#a4e83e17bca353cd46097c14779119ffd" > rtabmap::OccupancyGrid</ a > , and < a class = "el" href = "classrtabmap_1_1OctoMap.html#ac74a308322f3162307bfe73bfd60c2dd" > rtabmap::OctoMap</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a632f06ccce72bce66a9fd38d37f23b80" > ◆  </ a ></ span > cache()</ h2 >
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< td class = "memname" > const std::map< int, < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > > & rtabmap::GlobalMap::cache </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span >< span class = "mlabel" > protected</ span ></ span > </ td >
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< dl class = "section return" >< dt > Returns</ dt >< dd > Cached local grids keyed by node id. </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00126" > 126</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7fc3f43e65401d3842419066242e081d" > ◆  </ a ></ span > assembledNodes()</ h2 >
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< td class = "memname" > const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & rtabmap::GlobalMap::assembledNodes </ td >
< td > (</ td >
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< td > const</ td >
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< dl class = "section return" >< dt > Returns</ dt >< dd > Poses of nodes already assembled (same as < a class = "el" href = "classrtabmap_1_1GlobalMap.html#a98c2c10030cfa64c1b72d17f046243f4" > addedNodes()</ a > ). </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00129" > 129</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a9c853fcade3b4b9bd4f49b6a07025e6d" > ◆  </ a ></ span > isNodeAssembled()</ h2 >
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< td class = "memname" > bool rtabmap::GlobalMap::isNodeAssembled </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > id</ em ></ td >< td > )</ td >
< td ></ td >
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< dl class = "section return" >< dt > Returns</ dt >< dd > True if < code > id</ code > is already in the assembled set. </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00131" > 131</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "groupheader" > Member Data Documentation</ h2 >
< a id = "ae9f370b9f18f836e3c95bafe0c71d5f9" name = "ae9f370b9f18f836e3c95bafe0c71d5f9" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ae9f370b9f18f836e3c95bafe0c71d5f9" > ◆  </ a ></ span > cellSize_</ h2 >
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< td class = "memname" > float rtabmap::GlobalMap::cellSize_</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00136" > 136</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00137" > 137</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00139" > 139</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a13f2d13b5cec35a927cf5869904babf6" > ◆  </ a ></ span > logOddsHit_</ h2 >
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< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00140" > 140</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a556a9f454e138e0f5891afacf49c7114" > ◆  </ a ></ span > logOddsMiss_</ h2 >
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< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00141" > 141</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a36e4de6037c1a9a863515ac890be257e" > ◆  </ a ></ span > logOddsClampingMin_</ h2 >
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< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00142" > 142</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a1ff9968528c6848e096910d38298df07" > ◆  </ a ></ span > logOddsClampingMax_</ h2 >
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< td class = "memname" > float rtabmap::GlobalMap::logOddsClampingMax_</ td >
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< span class = "mlabels" >< span class = "mlabel" > protected</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00143" > 143</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a604273034598358d7d2ce8166db3bb46" > ◆  </ a ></ span > minValues_</ h2 >
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< td class = "memname" > double rtabmap::GlobalMap::minValues_[3]</ td >
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< span class = "mlabels" >< span class = "mlabel" > protected</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00145" > 145</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#afa437824f1ccbe1c88c4f11dd18d2186" > ◆  </ a ></ span > maxValues_</ h2 >
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< td class = "memname" > double rtabmap::GlobalMap::maxValues_[3]</ td >
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< span class = "mlabels" >< span class = "mlabel" > protected</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "GlobalMap_8h_source.html#l00146" > 146</ a > of file < a class = "el" href = "GlobalMap_8h_source.html" > GlobalMap.h</ a > .</ p >
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< hr /> The documentation for this class was generated from the following file:< ul >
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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_1GlobalMap.html" > GlobalMap</ 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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