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Planning update: remove virtual links up to current path index

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matlabbe
2015-05-11 15:48:27 -04:00
parent c0386be098
commit 04bd596705
3 changed files with 44 additions and 18 deletions
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corelib/include/rtabmap/core/Memory.h
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@@ -84,6 +84,7 @@ public:
bool addLink(int to, int from, const Transform & transform, Link::Type type, float rotVariance, float transVariance);
void updateLink(int fromId, int toId, const Transform & transform, float rotVariance, float transVariance);
void removeAllVirtualLinks();
void removeVirtualLinks(int signatureId);
std::map<int, int> getNeighborsId(
int signatureId,
int maxGraphDepth,