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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef GRAPH_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define GRAPH_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;rtabmap/core/Parameters.h&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;rtabmap/core/Link.h&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;rtabmap/core/GPS.h&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include &lt;rtabmap/core/CameraModel.h&gt;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">class </span>Memory;</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacegraph.html">graph</a> {</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT exportPoses(</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">const</span> std::string &amp; filePath,</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordtype">int</span> format,</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; constraints = std::multimap&lt;int, Link&gt;(),</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="keyword">const</span> std::map&lt;int, double&gt; &amp; stamps = std::map&lt;int, double&gt;(),</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT importPoses(</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keyword">const</span> std::string &amp; filePath,</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">int</span> format,</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> std::multimap&lt;int, Link&gt; * constraints = 0,</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> std::map&lt;int, double&gt; * stamps = 0);</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT exportGPS(</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keyword">const</span> std::string &amp; filePath,</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keyword">const</span> std::map&lt;int, GPS&gt; &amp; gpsValues,</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rgba = 0xFFFFFFFF);</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT calcKittiSequenceErrors(</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">const</span> std::vector&lt;Transform&gt; &amp;poses_gt,</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keyword">const</span> std::vector&lt;Transform&gt; &amp;poses_result,</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordtype">float</span> &amp; t_err,</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keywordtype">float</span> &amp; r_err);</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> </div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT calcRelativeErrors (</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keyword">const</span> std::vector&lt;Transform&gt; &amp;poses_gt,</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keyword">const</span> std::vector&lt;Transform&gt; &amp;poses_result,</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">float</span> &amp; t_err,</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">float</span> &amp; r_err);</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span>Transform RTABMAP_CORE_EXPORT calcRMSE(</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp;groundTruth,</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp;poses,</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">float</span> &amp; translational_rmse,</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="keywordtype">float</span> &amp; translational_mean,</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="keywordtype">float</span> &amp; translational_median,</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordtype">float</span> &amp; translational_std,</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordtype">float</span> &amp; translational_min,</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">float</span> &amp; translational_max,</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordtype">float</span> &amp; rotational_rmse,</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">float</span> &amp; rotational_mean,</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordtype">float</span> &amp; rotational_median,</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keywordtype">float</span> &amp; rotational_std,</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordtype">float</span> &amp; rotational_min,</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordtype">float</span> &amp; rotational_max,</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordtype">bool</span> align2D = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> </div>
<div class="foldopen" id="foldopen00231" data-start="{" data-end="};">
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html"> 231</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html">MaxGraphErrors</a></div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span>{</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"><a class="line" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a81e053c54198c0c57dba6ef65d1c3a8c"> 233</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a81e053c54198c0c57dba6ef65d1c3a8c">linear</a>=-1.0f; </div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"><a class="line" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a08918b252e5814477beff38b423df39b"> 234</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a08918b252e5814477beff38b423df39b">angular</a>=-1.0f; </div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9"> 235</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9">linearRatio</a>=-1.0f; </div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"><a class="line" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a97bead9a8191f2746e2586a965ca3c80"> 236</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a97bead9a8191f2746e2586a965ca3c80">angularRatio</a>=-1.0f; </div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#ae51dd46bd7d7f6779b681eb906654321"> 237</a></span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> <a class="code hl_variable" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#ae51dd46bd7d7f6779b681eb906654321">linearLink</a>; </div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a95dc5269dfe47ed56b315cebe3389ab6"> 238</a></span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> <a class="code hl_variable" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a95dc5269dfe47ed56b315cebe3389ab6">angularLink</a>; </div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span>};</div>
</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span><a class="code hl_struct" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html">MaxGraphErrors</a> RTABMAP_CORE_EXPORT computeMaxGraphErrors(</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordtype">bool</span> for3DoF = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> </div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span>std::vector&lt;double&gt; RTABMAP_CORE_EXPORT getMaxOdomInf(<span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links);</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> </div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span>std::multimap&lt;int, Link&gt;::iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span>std::multimap&lt;int, std::pair&lt;int, Link::Type&gt; &gt;::iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> std::multimap&lt;<span class="keywordtype">int</span>, std::pair&lt;int, Link::Type&gt; &gt; &amp; links,</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span>std::multimap&lt;int, int&gt;::iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> std::multimap&lt;int, int&gt; &amp; links,</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span>std::multimap&lt;int, Link&gt;::const_iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span>std::multimap&lt;int, std::pair&lt;int, Link::Type&gt; &gt;::const_iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keyword">const</span> std::multimap&lt;<span class="keywordtype">int</span>, std::pair&lt;int, Link::Type&gt; &gt; &amp; links,</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span>std::multimap&lt;int, int&gt;::const_iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keyword">const</span> std::multimap&lt;int, int&gt; &amp; links,</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> </div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span>std::list&lt;Link&gt; RTABMAP_CORE_EXPORT findLinks(</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keywordtype">int</span> from);</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span>std::multimap&lt;int, Link&gt; RTABMAP_CORE_EXPORT filterDuplicateLinks(</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links);</div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> </div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span>std::multimap&lt;int, Link&gt; RTABMAP_CORE_EXPORT filterLinks(</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> filteredType,</div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keywordtype">bool</span> inverted = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span>std::map&lt;int, Link&gt; RTABMAP_CORE_EXPORT filterLinks(</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keyword">const</span> std::map&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> filteredType,</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keywordtype">bool</span> inverted = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> </div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT frustumPosesFiltering(</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; cameraPose,</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keywordtype">float</span> horizontalFOV = 45.0f,</div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> <span class="keywordtype">float</span> verticalFOV = 45.0f,</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="keywordtype">float</span> nearClipPlaneDistance = 0.1f,</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> <span class="keywordtype">float</span> farClipPlaneDistance = 100.0f,</div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keywordtype">bool</span> negative = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> </div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT radiusPosesFiltering(</div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="keywordtype">float</span> angle,</div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keywordtype">bool</span> keepLatest = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> </div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span>std::multimap&lt;int, int&gt; RTABMAP_CORE_EXPORT radiusPosesClustering(</div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordtype">float</span> angle);</div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> </div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span><span class="keywordtype">void</span> reduceGraph(</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> std::multimap&lt;int, int&gt; &amp; hyperNodes,</div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> std::multimap&lt;int, Link&gt; &amp; hyperLinks);</div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> </div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span>std::list&lt;std::pair&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT computePath(</div>
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> <span class="keyword">const</span> std::multimap&lt;int, int&gt; &amp; links,</div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span>std::list&lt;int&gt; RTABMAP_CORE_EXPORT computePath(</div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> <span class="keywordtype">bool</span> useSameCostForAllLinks = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> </div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span>std::list&lt;std::pair&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT computePath(</div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <span class="keywordtype">int</span> fromId,</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <span class="keywordtype">int</span> toId,</div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory,</div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> <span class="keywordtype">float</span> linearVelocity = 0.0f,</div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keywordtype">float</span> angularVelocity = 0.0f,</div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> <span class="keywordtype">bool</span> ignoreDirectLinks = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> </div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT findNearestNode(</div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> <span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> <span class="keywordtype">float</span> * distance = 0);</div>
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> </div>
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span>std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT findNearestNodes(</div>
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span>std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT findNearestNodes(</div>
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT findNearestPoses(</div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT findNearestPoses(</div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> </div>
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT findNearestNodes(<span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; nodes, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; targetPose, <span class="keywordtype">int</span> k);</div>
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT getNodesInRadius(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius);</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT getNodesInRadius(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius);</div>
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span>RTABMAP_DEPRECATED std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT getPosesInRadius(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span>RTABMAP_DEPRECATED std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT getPosesInRadius(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> </div>
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT computePathLength(</div>
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, Transform&gt; &gt; &amp; path);</div>
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> </div>
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT computePathLength(</div>
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; path);</div>
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> </div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span>std::list&lt;std::map&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT getPaths(</div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> std::map&lt;int, Transform&gt; poses,</div>
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links);</div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> </div>
<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"> 674</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT computeMinMax(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"> 675</span> cv::Vec3f &amp; min,</div>
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> cv::Vec3f &amp; max);</div>
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> </div>
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"> 678</span>} <span class="comment">/* namespace graph */</span></div>
<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> </div>
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"> 680</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"> 681</span><span class="preprocessor">#endif </span><span class="comment">/* GRAPH_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Link category and filter sentinels.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00064">Link.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Memory_html"><div class="ttname"><a href="classrtabmap_1_1Memory.html">rtabmap::Memory</a></div><div class="ttdoc">Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00101">Memory.h:102</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="anamespacegraph_html"><div class="ttname"><a href="namespacegraph.html">graph</a></div><div class="ttdoc">Pose-graph I/O, trajectory metrics, link utilities, and path planning.</div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html">rtabmap::graph::MaxGraphErrors</a></div><div class="ttdoc">Largest pose-graph constraint violations after optimization.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00231">Graph.h:232</a></div></div>
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a08918b252e5814477beff38b423df39b"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a08918b252e5814477beff38b423df39b">rtabmap::graph::MaxGraphErrors::angular</a></div><div class="ttdeci">float angular</div><div class="ttdoc">Absolute angular error (rad) of the worst link.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00234">Graph.h:234</a></div></div>
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a2a49ed004369d9a6670781d7f3b3cae9"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9">rtabmap::graph::MaxGraphErrors::linearRatio</a></div><div class="ttdeci">float linearRatio</div><div class="ttdoc">linear / sqrt(trans variance) of the worst link.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00235">Graph.h:235</a></div></div>
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a81e053c54198c0c57dba6ef65d1c3a8c"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a81e053c54198c0c57dba6ef65d1c3a8c">rtabmap::graph::MaxGraphErrors::linear</a></div><div class="ttdeci">float linear</div><div class="ttdoc">Absolute linear error (m) of the worst link.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00233">Graph.h:233</a></div></div>
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a95dc5269dfe47ed56b315cebe3389ab6"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a95dc5269dfe47ed56b315cebe3389ab6">rtabmap::graph::MaxGraphErrors::angularLink</a></div><div class="ttdeci">Link angularLink</div><div class="ttdoc">Link with largest angularRatio.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00238">Graph.h:238</a></div></div>
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a97bead9a8191f2746e2586a965ca3c80"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a97bead9a8191f2746e2586a965ca3c80">rtabmap::graph::MaxGraphErrors::angularRatio</a></div><div class="ttdeci">float angularRatio</div><div class="ttdoc">angular / sqrt(rot variance) of the worst link.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00236">Graph.h:236</a></div></div>
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_ae51dd46bd7d7f6779b681eb906654321"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#ae51dd46bd7d7f6779b681eb906654321">rtabmap::graph::MaxGraphErrors::linearLink</a></div><div class="ttdeci">Link linearLink</div><div class="ttdoc">Link with largest linearRatio.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00237">Graph.h:237</a></div></div>
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