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2026-09-20 06:51:14 +00:00
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2026-08-06 22:56:24 +00:00
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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "classrtabmap_1_1LocalGridCache-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::LocalGridCache Class Reference</ div ></ div >
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< p > Cache of < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > entries keyed by map node id.
< a href = "classrtabmap_1_1LocalGridCache.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > > </ code ></ p >
< 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:a2e83e9c0c11051b5da84bf04b603a99b" id = "r_a2e83e9c0c11051b5da84bf04b603a99b" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a2e83e9c0c11051b5da84bf04b603a99b" name = "a2e83e9c0c11051b5da84bf04b603a99b" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > add</ b > (int nodeId, const cv::Mat & ground, const cv::Mat & obstacles, const cv::Mat & empty, float cellSize, const cv::Point3f & viewPoint=cv::Point3f(0, 0, 0))</ td ></ tr >
< tr class = "memdesc:a2e83e9c0c11051b5da84bf04b603a99b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Inserts or replaces the grid for < code > nodeId</ code > (from separate cell mats). < br /></ td ></ tr >
< tr class = "separator:a2e83e9c0c11051b5da84bf04b603a99b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a765142f021aa580bcfdd84545ebc044f" id = "r_a765142f021aa580bcfdd84545ebc044f" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a765142f021aa580bcfdd84545ebc044f" name = "a765142f021aa580bcfdd84545ebc044f" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > add</ b > (int nodeId, const < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > & localGrid)</ td ></ tr >
< tr class = "memdesc:a765142f021aa580bcfdd84545ebc044f" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Inserts or replaces the grid for < code > nodeId</ code > . < br /></ td ></ tr >
< tr class = "separator:a765142f021aa580bcfdd84545ebc044f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a6350523acd5ce71be45cd653071837fc" id = "r_a6350523acd5ce71be45cd653071837fc" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridCache.html#a6350523acd5ce71be45cd653071837fc" > shareTo</ a > (int nodeId, < a class = "el" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a > & anotherCache) const</ td ></ tr >
< tr class = "memdesc:a6350523acd5ce71be45cd653071837fc" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Copies a grid to < code > anotherCache</ code > if present here and absent there. < br /></ td ></ tr >
< tr class = "separator:a6350523acd5ce71be45cd653071837fc" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab72a88b5c00d2a104ac1055538960acb" id = "r_ab72a88b5c00d2a104ac1055538960acb" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ab72a88b5c00d2a104ac1055538960acb" name = "ab72a88b5c00d2a104ac1055538960acb" ></ a >
unsigned long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getMemoryUsed</ b > () const</ td ></ tr >
< tr class = "memdesc:ab72a88b5c00d2a104ac1055538960acb" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Approximate memory used by cached grids (bytes). < br /></ td ></ tr >
< tr class = "separator:ab72a88b5c00d2a104ac1055538960acb" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a4068440ef10859d05f252e36f916604b" id = "r_a4068440ef10859d05f252e36f916604b" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridCache.html#a4068440ef10859d05f252e36f916604b" > clear</ a > (bool temporaryOnly=false)</ td ></ tr >
< tr class = "memdesc:a4068440ef10859d05f252e36f916604b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Removes cached grids. < br /></ td ></ tr >
< tr class = "separator:a4068440ef10859d05f252e36f916604b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a8337bd96da4ff27b9b64b53422169c59" id = "r_a8337bd96da4ff27b9b64b53422169c59" >< td class = "memItemLeft" align = "right" valign = "top" > size_t  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridCache.html#a8337bd96da4ff27b9b64b53422169c59" > size</ a > () const</ td ></ tr >
< tr class = "separator:a8337bd96da4ff27b9b64b53422169c59" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2eab437a5cdcef9f32f2409b13e0501a" id = "r_a2eab437a5cdcef9f32f2409b13e0501a" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridCache.html#a2eab437a5cdcef9f32f2409b13e0501a" > empty</ a > () const</ td ></ tr >
< tr class = "separator:a2eab437a5cdcef9f32f2409b13e0501a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a649f51ce149ae62c02f1f29a9615b37f" id = "r_a649f51ce149ae62c02f1f29a9615b37f" >< 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_1LocalGridCache.html#a649f51ce149ae62c02f1f29a9615b37f" > localGrids</ a > () const</ td ></ tr >
< tr class = "separator:a649f51ce149ae62c02f1f29a9615b37f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a868fedccc80d7581cdd5a2deab17cff6" id = "r_a868fedccc80d7581cdd5a2deab17cff6" >< td class = "memItemLeft" align = "right" valign = "top" > std::map< int, < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > > ::const_iterator  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridCache.html#a868fedccc80d7581cdd5a2deab17cff6" > find</ a > (int nodeId) const</ td ></ tr >
< tr class = "separator:a868fedccc80d7581cdd5a2deab17cff6" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1fb77345d3aa4937fe09aafcb31a36dd" id = "r_a1fb77345d3aa4937fe09aafcb31a36dd" >< td class = "memItemLeft" align = "right" valign = "top" > std::map< int, < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > > ::const_iterator  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridCache.html#a1fb77345d3aa4937fe09aafcb31a36dd" > begin</ a > () const</ td ></ tr >
< tr class = "separator:a1fb77345d3aa4937fe09aafcb31a36dd" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5f681940b3ce1f66c19813826f9c28e0" id = "r_a5f681940b3ce1f66c19813826f9c28e0" >< td class = "memItemLeft" align = "right" valign = "top" > std::map< int, < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > > ::const_iterator  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridCache.html#a5f681940b3ce1f66c19813826f9c28e0" > end</ a > () const</ td ></ tr >
< tr class = "separator:a5f681940b3ce1f66c19813826f9c28e0" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Cache of < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > entries keyed by map node id. </ p >
< p > Used by < a class = "el" href = "classrtabmap_1_1GlobalMap.html" > GlobalMap</ a > and its subclasses (e.g. < a class = "el" href = "classrtabmap_1_1OccupancyGrid.html" > OccupancyGrid</ a > ) to hold per-node local grids before assembly. Node id < code > 0</ code > is stored as < code > -1</ code > (temporary grid). Negative ids passed to < a class = "el" href = "classrtabmap_1_1LocalGridCache.html#a2e83e9c0c11051b5da84bf04b603a99b" > add()</ a > are rejected. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00097" > 97</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
< a id = "a14eba075298ead168c6ea5a621e564a3" name = "a14eba075298ead168c6ea5a621e564a3" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a14eba075298ead168c6ea5a621e564a3" > ◆  </ a ></ span > LocalGridCache()</ h2 >
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< td class = "memname" > rtabmap::LocalGridCache::LocalGridCache </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td ></ td >
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</ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00100" > 100</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< a id = "abfc545493581e7c0a5b409fda84fe4d4" name = "abfc545493581e7c0a5b409fda84fe4d4" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#abfc545493581e7c0a5b409fda84fe4d4" > ◆  </ a ></ span > ~LocalGridCache()</ h2 >
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< td class = "memname" > virtual rtabmap::LocalGridCache::~LocalGridCache </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td ></ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00101" > 101</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a6350523acd5ce71be45cd653071837fc" name = "a6350523acd5ce71be45cd653071837fc" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a6350523acd5ce71be45cd653071837fc" > ◆  </ a ></ span > shareTo()</ h2 >
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< td class = "memname" > bool rtabmap::LocalGridCache::shareTo </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > nodeId</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a > &  </ td >
< td class = "paramname" >< em > anotherCache</ em >   </ td >
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< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
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< p > Copies a grid to < code > anotherCache</ code > if present here and absent there. </ p >
< dl class = "section return" >< dt > Returns</ dt >< dd > True if a grid was shared. </ dd ></ dl >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a4068440ef10859d05f252e36f916604b" > ◆  </ a ></ span > clear()</ h2 >
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< td class = "memname" > void rtabmap::LocalGridCache::clear </ td >
< td > (</ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > temporaryOnly</ em > = < code > false</ code ></ td >< td > )</ td >
< td ></ td >
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< p > Removes cached grids. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
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< tr >< td class = "paramname" > temporaryOnly</ td >< td > If true, removes only entries with negative ids (e.g. < code > -1</ code > ). </ td ></ tr >
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< a id = "a8337bd96da4ff27b9b64b53422169c59" name = "a8337bd96da4ff27b9b64b53422169c59" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a8337bd96da4ff27b9b64b53422169c59" > ◆  </ a ></ span > size()</ h2 >
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< td class = "memname" > size_t rtabmap::LocalGridCache::size </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00129" > 129</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a2eab437a5cdcef9f32f2409b13e0501a" > ◆  </ a ></ span > empty()</ h2 >
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< td class = "memname" > bool rtabmap::LocalGridCache::empty </ td >
< td > (</ td >
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< td > const</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00130" > 130</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a649f51ce149ae62c02f1f29a9615b37f" > ◆  </ a ></ span > localGrids()</ h2 >
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< td class = "memname" > const std::map< int, < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > > & rtabmap::LocalGridCache::localGrids </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
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</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00131" > 131</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< a id = "a868fedccc80d7581cdd5a2deab17cff6" name = "a868fedccc80d7581cdd5a2deab17cff6" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a868fedccc80d7581cdd5a2deab17cff6" > ◆  </ a ></ span > find()</ h2 >
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< div class = "memproto" >
< table class = "mlabels" >
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< table class = "memname" >
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< td class = "memname" > std::map< int, < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > > ::const_iterator rtabmap::LocalGridCache::find </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > nodeId</ em ></ 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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</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00133" > 133</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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< a id = "a1fb77345d3aa4937fe09aafcb31a36dd" name = "a1fb77345d3aa4937fe09aafcb31a36dd" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a1fb77345d3aa4937fe09aafcb31a36dd" > ◆  </ a ></ span > begin()</ h2 >
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< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
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< td class = "memname" > std::map< int, < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > > ::const_iterator rtabmap::LocalGridCache::begin </ 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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< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00134" > 134</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
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</ div >
< a id = "a5f681940b3ce1f66c19813826f9c28e0" name = "a5f681940b3ce1f66c19813826f9c28e0" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a5f681940b3ce1f66c19813826f9c28e0" > ◆  </ a ></ span > end()</ h2 >
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< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
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< td class = "memname" > std::map< int, < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > > ::const_iterator rtabmap::LocalGridCache::end </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
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</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "LocalGrid_8h_source.html#l00135" > 135</ a > of file < a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a > .</ p >
</ div >
</ div >
< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "LocalGrid_8h_source.html" > LocalGrid.h</ a ></ li >
</ ul >
</ div > <!-- contents -->
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< div id = "nav-path" class = "navpath" > <!-- id is needed for treeview function! -->
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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_1LocalGridCache.html" > LocalGridCache</ 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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