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<divclass="ttc"id="aclassrtabmap_1_1Link_html"><divclass="ttname"><ahref="classrtabmap_1_1Link.html">rtabmap::Link</a></div><divclass="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><divclass="ttdef"><b>Definition</b><ahref="Link_8h_source.html#l00054">Link.h:55</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e"><divclass="ttname"><ahref="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link::Type</a></div><divclass="ttdeci">Type</div><divclass="ttdoc">Link category and filter sentinels.</div><divclass="ttdef"><b>Definition</b><ahref="Link_8h_source.html#l00064">Link.h:64</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><divclass="ttdoc">Container class for all sensor data captured at a specific time.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><divclass="ttdoc">Represents a node in RTAB-Map's pose graph.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a014fd12ee6cd47004e94ef4bb4753459"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a014fd12ee6cd47004e94ef4bb4753459">rtabmap::Signature::getMemoryUsed</a></div><divclass="ttdeci">unsigned long getMemoryUsed(bool withSensorData=true) const</div><divclass="ttdoc">Computes the memory usage of this signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a01f6eac0e5836aa921d65108b75249f6"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a01f6eac0e5836aa921d65108b75249f6">rtabmap::Signature::getWordsChanged</a></div><divclass="ttdeci">const std::map< int, int >& getWordsChanged() const</div><divclass="ttdoc">Returns the word ID change mapping.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00479">Signature.h:479</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a02c5d305492e3534e3799b8b7c78d912"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a02c5d305492e3534e3799b8b7c78d912">rtabmap::Signature::setSaved</a></div><divclass="ttdeci">void setSaved(bool saved)</div><divclass="ttdoc">Sets whether this signature has been saved to the database.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00349">Signature.h:349</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a0d15326165e9d01f0b91b247f5da23ea"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a0d15326165e9d01f0b91b247f5da23ea">rtabmap::Signature::isSaved</a></div><divclass="ttdeci">bool isSaved() const</div><divclass="ttdoc">Checks if this signature has been saved to the database.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00371">Signature.h:371</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a0e7b1874613a7438ec1b2d9aa2634da8"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a0e7b1874613a7438ec1b2d9aa2634da8">rtabmap::Signature::sensorData</a></div><divclass="ttdeci">const SensorData & sensorData() const</div><divclass="ttdoc">Returns const access to the sensor data.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00603">Signature.h:603</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a0fbef54e89583c0ee919f938d57c8759"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a0fbef54e89583c0ee919f938d57c8759">rtabmap::Signature::changeWordsRef</a></div><divclass="ttdeci">void changeWordsRef(int oldWordId, int activeWordId)</div><divclass="ttdoc">Changes visual word references from one word ID to another.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a10d3bce2c3e4ec2de31aa5fa0c4b5934"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a10d3bce2c3e4ec2de31aa5fa0c4b5934">rtabmap::Signature::changeLinkIds</a></div><divclass="ttdeci">void changeLinkIds(int idFrom, int idTo)</div><divclass="ttdoc">Changes all link target IDs from one value to another.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a1496e2f2ae46f2b6efcf7ece309ffd22"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a1496e2f2ae46f2b6efcf7ece309ffd22">rtabmap::Signature::getLinks</a></div><divclass="ttdeci">const std::multimap< int, Link >& getLinks() const</div><divclass="ttdoc">Returns all links from this signature.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00365">Signature.h:365</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a1e48a2cde44ad1ecc2daaf5e8245e86a"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a1e48a2cde44ad1ecc2daaf5e8245e86a">rtabmap::Signature::setVelocity</a></div><divclass="ttdeci">void setVelocity(float vx, float vy, float vz, float vroll, float vpitch, float vyaw)</div><divclass="ttdoc">Sets the velocity of this signature.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00544">Signature.h:544</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a1ed4181ac5cc7b477482459d680c63b1"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a1ed4181ac5cc7b477482459d680c63b1">rtabmap::Signature::getWordsDescriptors</a></div><divclass="ttdeci">const cv::Mat & getWordsDescriptors() const</div><divclass="ttdoc">Returns the feature descriptors for visual words.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00485">Signature.h:485</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a2257cfc6c620d726484f1c6c2b11257a"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a2257cfc6c620d726484f1c6c2b11257a">rtabmap::Signature::getLandmarks</a></div><divclass="ttdeci">const std::map< int, Link >& getLandmarks() const</div><divclass="ttdoc">Returns all landmark observations.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00332">Signature.h:332</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a245c8af68f7adec3813e3b062395769f"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a245c8af68f7adec3813e3b062395769f">rtabmap::Signature::setModified</a></div><divclass="ttdeci">void setModified(bool modified)</div><divclass="ttdoc">Sets the modification flag for this signature.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00359">Signature.h:359</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a24c257c2ff3fe156910ac82c41de8738"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738">rtabmap::Signature::sensorData</a></div><divclass="ttdeci">SensorData & sensorData()</div><divclass="ttdoc">Returns mutable access to the sensor data.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00597">Signature.h:597</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a28cc9f0c8d553a24ef9e5227be1c99fe"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a28cc9f0c8d553a24ef9e5227be1c99fe">rtabmap::Signature::setWeight</a></div><divclass="ttdeci">void setWeight(int weight)</div><divclass="ttdoc">Sets the weight/importance of this signature.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00189">Signature.h:189</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a31c6e7b7e720eca20fb5935e0ee1d9f9"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a31c6e7b7e720eca20fb5935e0ee1d9f9">rtabmap::Signature::id</a></div><divclass="ttdeci">int id() const</div><divclass="ttdoc">Returns the signature ID.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00168">Signature.h:168</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a328419f90f9dd8113dee4e38c9e30367"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a328419f90f9dd8113dee4e38c9e30367">rtabmap::Signature::removeVirtualLinks</a></div><divclass="ttdeci">void removeVirtualLinks()</div><divclass="ttdoc">Removes all virtual links from this signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a343a565680d03c45cc29dff7392b275e"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a343a565680d03c45cc29dff7392b275e">rtabmap::Signature::isEnabled</a></div><divclass="ttdeci">bool isEnabled() const</div><divclass="ttdoc">Checks if this signature is enabled.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00436">Signature.h:436</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a3bb2e6a8de8e615e51385c4113630f93"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a3bb2e6a8de8e615e51385c4113630f93">rtabmap::Signature::addLink</a></div><divclass="ttdeci">void addLink(const Link &link)</div><divclass="ttdoc">Adds a single link to this signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a471f71821ceeec9a25e9e4e16673d14f"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a471f71821ceeec9a25e9e4e16673d14f">rtabmap::Signature::getWordsKpts</a></div><divclass="ttdeci">const std::vector< cv::KeyPoint >& getWordsKpts() const</div><divclass="ttdoc">Returns the keypoints associated with visual words.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00458">Signature.h:458</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a5166864f276c921963033e8852c13076"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a5166864f276c921963033e8852c13076">rtabmap::Signature::getPose</a></div><divclass="ttdeci">const Transform & getPose() const</div><divclass="ttdoc">Returns the pose of this signature.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00569">Signature.h:569</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a51a08cbabd87eb0fd5045ffdb4cb3c00"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a51a08cbabd87eb0fd5045ffdb4cb3c00">rtabmap::Signature::setEnabled</a></div><divclass="ttdeci">void setEnabled(bool enabled)</div><divclass="ttdoc">Sets whether this signature is enabled.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00442">Signature.h:442</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a5d5f3aa41c0d9404654ebc5628a5189c"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a5d5f3aa41c0d9404654ebc5628a5189c">rtabmap::Signature::getGroundTruthPose</a></div><divclass="ttdeci">const Transform & getGroundTruthPose() const</div><divclass="ttdoc">Returns the ground truth pose.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00585">Signature.h:585</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a68eaa67c81d08e20d2b7a43b0659b1d4"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a68eaa67c81d08e20d2b7a43b0659b1d4">rtabmap::Signature::getWords</a></div><divclass="ttdeci">const std::multimap< int, int >& getWords() const</div><divclass="ttdoc">Returns the visual words map.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00452">Signature.h:452</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a693874de0d6ede4fe5c5d43d6f4d8b55"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a693874de0d6ede4fe5c5d43d6f4d8b55">rtabmap::Signature::isBadSignature</a></div><divclass="ttdeci">bool isBadSignature() const</div><divclass="ttdoc">Checks if this signature is considered "bad".</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a6fb8d04c4c2c8ee6f82d1eb65fd750a4"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a6fb8d04c4c2c8ee6f82d1eb65fd750a4">rtabmap::Signature::setWords</a></div><divclass="ttdeci">void setWords(const std::multimap< int, int >&words, const std::vector< cv::KeyPoint >&keypoints, const std::vector< cv::Point3f >&words3, const cv::Mat &descriptors)</div><divclass="ttdoc">Sets all visual words for this signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a6fe5edded7922a34c3f52e71e8be458d"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a6fe5edded7922a34c3f52e71e8be458d">rtabmap::Signature::removeLandmark</a></div><divclass="ttdeci">void removeLandmark(int landmarkId)</div><divclass="ttdoc">Removes a specific landmark observation.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a701b32c562d789929a18a19c08bac4ca"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a701b32c562d789929a18a19c08bac4ca">rtabmap::Signature::getWeight</a></div><divclass="ttdeci">int getWeight() const</div><divclass="ttdoc">Returns the weight/importance of this signature.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00195">Signature.h:195</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a71621ac6411f778342c23fbc4e695a12"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a71621ac6411f778342c23fbc4e695a12">rtabmap::Signature::addLandmark</a></div><divclass="ttdeci">void addLandmark(const Link &landmark)</div><divclass="ttdoc">Adds a landmark observation to this signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a78a9ae9059257c60cf1d50ef415520cd"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a78a9ae9059257c60cf1d50ef415520cd">rtabmap::Signature::getLabel</a></div><divclass="ttdeci">const std::string & getLabel() const</div><divclass="ttdoc">Returns the label/name of this signature.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00214">Signature.h:214</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a80565e1439be473d9c783d5c624b1a02"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a80565e1439be473d9c783d5c624b1a02">rtabmap::Signature::setWordsDescriptors</a></div><divclass="ttdeci">void setWordsDescriptors(const cv::Mat &descriptors)</div><divclass="ttdoc">Sets the feature descriptors for visual words.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a8d3e01853af1365fce62dd460dea816f"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a8d3e01853af1365fce62dd460dea816f">rtabmap::Signature::removeLinks</a></div><divclass="ttdeci">void removeLinks(bool keepSelfReferringLinks=false)</div><divclass="ttdoc">Removes all links from this signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_a93dcbd3cffc84808fe5652bf0f542ca9"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#a93dcbd3cffc84808fe5652bf0f542ca9">rtabmap::Signature::isLinksModified</a></div><divclass="ttdeci">bool isLinksModified() const</div><divclass="ttdoc">Checks if the links have been modified.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00386">Signature.h:386</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_aa3367bba5b890341238d93e642f847a7"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#aa3367bba5b890341238d93e642f847a7">rtabmap::Signature::Signature</a></div><divclass="ttdeci">Signature(int id, int mapId=-1, int weight=0, double stamp=0.0, const std::string &label=std::string(), const Transform &pose=Transform(), const Transform &groundTruthPose=Transform(), const SensorData &sensorData=SensorData())</div><divclass="ttdoc">Constructor with explicit parameters.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_aa482e98fb247d40368a9aaa838fe3a5a"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#aa482e98fb247d40368a9aaa838fe3a5a">rtabmap::Signature::removeLandmarks</a></div><divclass="ttdeci">void removeLandmarks()</div><divclass="ttdoc">Removes all landmark observations.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_aa6dc3ad065ae2fd29afbbe69429f3a7b"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#aa6dc3ad065ae2fd29afbbe69429f3a7b">rtabmap::Signature::setLabel</a></div><divclass="ttdeci">void setLabel(const std::string &label)</div><divclass="ttdoc">Sets a label/name for this signature.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00208">Signature.h:208</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_aa8513c4ecb77c38b95610834c66e893e"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#aa8513c4ecb77c38b95610834c66e893e">rtabmap::Signature::addLinks</a></div><divclass="ttdeci">void addLinks(const std::list< Link >&links)</div><divclass="ttdoc">Adds multiple links from a list.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_aa8be86850b1277ce7c5eb4a5998e35e9"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#aa8be86850b1277ce7c5eb4a5998e35e9">rtabmap::Signature::setGroundTruthPose</a></div><divclass="ttdeci">void setGroundTruthPose(const Transform &pose)</div><divclass="ttdoc">Sets the ground truth pose for evaluation.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00529">Signature.h:529</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_aa9c4ed8d3617b039181cf44a0e30eca2"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#aa9c4ed8d3617b039181cf44a0e30eca2">rtabmap::Signature::getStamp</a></div><divclass="ttdeci">double getStamp() const</div><divclass="ttdoc">Returns the timestamp of this signature.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00220">Signature.h:220</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_aac24301e6aff593fdcd679485b2c0e0e"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#aac24301e6aff593fdcd679485b2c0e0e">rtabmap::Signature::removeAllWords</a></div><divclass="ttdeci">void removeAllWords()</div><divclass="ttdoc">Removes all visual words from this signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_ab63ee6d2a0e2cd456748a64d9990f969"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#ab63ee6d2a0e2cd456748a64d9990f969">rtabmap::Signature::isModified</a></div><divclass="ttdeci">bool isModified() const</div><divclass="ttdoc">Checks if this signature has been modified.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00380">Signature.h:380</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_ab902bfc7cdde2542ffe7e5d441f90a66"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#ab902bfc7cdde2542ffe7e5d441f90a66">rtabmap::Signature::getWords3</a></div><divclass="ttdeci">const std::vector< cv::Point3f >& getWords3() const</div><divclass="ttdoc">Returns the 3D points of visual words.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00562">Signature.h:562</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_abbd9806c2b20182217d2269c7398541e"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#abbd9806c2b20182217d2269c7398541e">rtabmap::Signature::removeLink</a></div><divclass="ttdeci">void removeLink(int idTo)</div><divclass="ttdoc">Removes a specific link to a target signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_abe3b712a3c74599007b1974f592d82bd"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#abe3b712a3c74599007b1974f592d82bd">rtabmap::Signature::compareTo</a></div><divclass="ttdeci">float compareTo(const Signature &signature) const</div><divclass="ttdoc">Compares this signature to another signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_ac2d1526d87df9ff5d4885b16c460ebcf"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#ac2d1526d87df9ff5d4885b16c460ebcf">rtabmap::Signature::getInvalidWordsCount</a></div><divclass="ttdeci">int getInvalidWordsCount() const</div><divclass="ttdoc">Returns the count of invalid visual words.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00469">Signature.h:469</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_ac6a75872fb4cb64bd088794df6e897bb"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#ac6a75872fb4cb64bd088794df6e897bb">rtabmap::Signature::mapId</a></div><divclass="ttdeci">int mapId() const</div><divclass="ttdoc">Returns the map ID.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00174">Signature.h:174</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_aca4bf5db794637f0780f6eb2139a16f0"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#aca4bf5db794637f0780f6eb2139a16f0">rtabmap::Signature::setPose</a></div><divclass="ttdeci">void setPose(const Transform &pose)</div><divclass="ttdoc">Sets the pose of this signature.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00519">Signature.h:519</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_ad71fa7c0466dbb5c5062953043c3fcb0"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#ad71fa7c0466dbb5c5062953043c3fcb0">rtabmap::Signature::hasLink</a></div><divclass="ttdeci">bool hasLink(int idTo, Link::Type type=Link::kUndef) const</div><divclass="ttdoc">Checks if this signature has a link to a target signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_ae97f22fcb6799a5312c1948cb9f42c99"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#ae97f22fcb6799a5312c1948cb9f42c99">rtabmap::Signature::getVelocity</a></div><divclass="ttdeci">const std::vector< float >& getVelocity() const</div><divclass="ttdoc">Returns the velocity of this signature.</div><divclass="ttdef"><b>Definition</b><ahref="Signature_8h_source.html#l00591">Signature.h:591</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_af106b6a37909c236e22f5cac6150ce62"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#af106b6a37909c236e22f5cac6150ce62">rtabmap::Signature::Signature</a></div><divclass="ttdeci">Signature(const SensorData &data)</div><divclass="ttdoc">Constructor from sensor data.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_af92465ad9cbfab36ffbc6d372781170c"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#af92465ad9cbfab36ffbc6d372781170c">rtabmap::Signature::addLinks</a></div><divclass="ttdeci">void addLinks(const std::map< int, Link >&links)</div><divclass="ttdoc">Adds multiple links from a map.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Signature_html_afc81cb91421dcd36e2f5e3dc84a77b44"><divclass="ttname"><ahref="classrtabmap_1_1Signature.html#afc81cb91421dcd36e2f5e3dc84a77b44">rtabmap::Signature::getPoseCovariance</a></div><divclass="ttdeci">cv::Mat getPoseCovariance() const</div><divclass="ttdoc">Gets the pose covariance matrix.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Transform_html"><divclass="ttname"><ahref="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><divclass="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><divclass="ttdef"><b>Definition</b><ahref="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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