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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> </ul>
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<a href="#pub-methods">Public Member Functions</a> |
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<a href="#pro-methods">Protected Member Functions</a> |
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<a href="classrtabmap_1_1CloudMap-members.html">List of all members</a> </div>
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<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">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:ad3aca8cab2f5d041e02be5a7ca04faf4" id="r_ad3aca8cab2f5d041e02be5a7ca04faf4"><td class="memItemLeft" align="right" valign="top"><a id="ad3aca8cab2f5d041e02be5a7ca04faf4" name="ad3aca8cab2f5d041e02be5a7ca04faf4"></a>
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 </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 ParametersMap &parameters=ParametersMap())</td></tr>
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<tr class="separator:ad3aca8cab2f5d041e02be5a7ca04faf4"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:a3e2089cb30bd4efbee1ede0c041ee4af"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:ab8c4eb633f893d969a053413be3f23cf"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a65dea59d0a82f79c76a2969cbe047d84"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a3b2b92a7164533576866254311353542"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:a18a2dd71488719960f06eb4ae5e2cf4b"><td class="mdescLeft"> </td><td class="mdescRight">Approximate memory used by assembled-node bookkeeping (bytes). <br /></td></tr>
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<tr class="separator:a18a2dd71488719960f06eb4ae5e2cf4b"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<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>
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<tr class="separator:a11e9ba83337edf7f08f3c50064be028a inherit pub_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:aa21a1e3baba94ded5663a8057a3b8cd6 inherit pub_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a445f18d347d5624a012f756eb9fe5320 inherit pub_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a99c3840a89e76a091cf59cfaf1a8bcc4 inherit pub_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a98c2c10030cfa64c1b72d17f046243f4 inherit pub_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:aaf028c4c070aa8568eaaf3dae4b926ee inherit pub_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:aa840b2e62893de929f952b8511df6164 inherit pub_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:a37adbbb0e80ba76cfa080cec9811cca3 inherit pub_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:a060366742fc8f51deaf7dd75b66615c7 inherit pub_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
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Protected Member Functions</h2></td></tr>
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<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>
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<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>
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<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>
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<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 ParametersMap &parameters=ParametersMap())</td></tr>
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<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>
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<tr class="separator:a03581caaa2a313b131726af4e4a6b714 inherit pro_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a632f06ccce72bce66a9fd38d37f23b80 inherit pro_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a7fc3f43e65401d3842419066242e081d inherit pro_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a9c853fcade3b4b9bd4f49b6a07025e6d inherit pro_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0b95370df2582da48ff0e1e405cccda2 inherit pro_methods_classrtabmap_1_1GlobalMap" id="r_a0b95370df2582da48ff0e1e405cccda2"><td class="memItemLeft" align="right" valign="top">
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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>
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<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>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
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Additional Inherited Members</h2></td></tr>
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<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>
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<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>
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||
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<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>
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<tr class="separator:aff0b3450ec3db63b9dcb140ff0cbe77a inherit pub_static_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:a54fd556aa295938077539e85b2be829a inherit pub_static_methods_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:ae9f370b9f18f836e3c95bafe0c71d5f9 inherit pro_attribs_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a2b5471c36fb21ba070df25cd0e75dd04 inherit pro_attribs_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:ae9fba67994a1789cc317c34e3a749bc4 inherit pro_attribs_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a13f2d13b5cec35a927cf5869904babf6 inherit pro_attribs_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a556a9f454e138e0f5891afacf49c7114 inherit pro_attribs_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a36e4de6037c1a9a863515ac890be257e inherit pro_attribs_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a1ff9968528c6848e096910d38298df07 inherit pro_attribs_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a604273034598358d7d2ce8166db3bb46 inherit pro_attribs_classrtabmap_1_1GlobalMap"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<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>
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</div><h2 class="groupheader">Member Function Documentation</h2>
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<a id="a3e2089cb30bd4efbee1ede0c041ee4af" name="a3e2089cb30bd4efbee1ede0c041ee4af"></a>
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<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>
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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>
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<p>Reimplemented from <a class="el" href="classrtabmap_1_1GlobalMap.html#aa6701a09e2532877e73d5b1ba8cb1213">rtabmap::GlobalMap</a>.</p>
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<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>
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<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>
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<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>
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<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>
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<h2 class="memtitle"><span class="permalink"><a href="#a3b2b92a7164533576866254311353542">◆ </a></span>getMapEmptyCells()</h2>
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<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>
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<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>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<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>
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<p>Reimplemented from <a class="el" href="classrtabmap_1_1GlobalMap.html#a20031690daf7a7e9195ae97abf46522b">rtabmap::GlobalMap</a>.</p>
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<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>
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<td class="paramname"><em>newPoses</em></td><td>)</td>
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<td></td>
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<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">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>
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<p>Implements <a class="el" href="classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f">rtabmap::GlobalMap</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/global_map/<a class="el" href="CloudMap_8h_source.html">CloudMap.h</a></li>
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