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2026-10-11 21:15:01 +00:00
parent 6f87654e7c
commit 23a81fb0d0
914 changed files with 11507 additions and 10317 deletions
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api/latest/BayesFilter_8h_source.html
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api/latest/CameraDepthAI_8h_source.html
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api/latest/CameraEvent_8h_source.html
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api/latest/CameraFreenect2_8h_source.html
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api/latest/CameraFreenect_8h_source.html
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api/latest/CameraImages_8h_source.html
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api/latest/CameraInfo_8h_source.html
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api/latest/CameraK4A_8h_source.html
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api/latest/CameraK4W2_8h_source.html
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api/latest/CameraModel_8h_source.html
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api/latest/CameraMyntEye_8h_source.html
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api/latest/CameraOpenNI2_8h_source.html
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api/latest/CameraOpenNICV_8h_source.html
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api/latest/CameraOpenni_8h_source.html
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api/latest/CameraOrbbecSDK_8h_source.html
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api/latest/CameraRGBDImages_8h_source.html
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api/latest/CameraRGBD_8h_source.html
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api/latest/CameraRGB_8h_source.html
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api/latest/CameraRealSense2_8h_source.html
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api/latest/CameraRealSense_8h_source.html
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api/latest/CameraSeerSense_8h_source.html
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api/latest/CameraStereoDC1394_8h_source.html
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api/latest/CameraStereoFlyCapture2_8h_source.html
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api/latest/CameraStereoImages_8h_source.html
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api/latest/CameraStereoTara_8h_source.html
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api/latest/CameraStereoVideo_8h_source.html
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api/latest/CameraStereoZedOC_8h_source.html
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api/latest/CameraStereoZed_8h_source.html
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api/latest/CameraStereo_8h_source.html
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api/latest/CameraThread_8h_source.html
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api/latest/CameraVideo_8h_source.html
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api/latest/Camera_8h_source.html
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api/latest/CloudMap_8h_source.html
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api/latest/Compression_8h_source.html
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api/latest/DBDriverSqlite3_8h_source.html
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api/latest/DBDriver_8h_source.html
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api/latest/DBReader_8h_source.html
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api/latest/EnvSensor_8h_source.html
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api/latest/EpipolarGeometry_8h_source.html
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api/latest/Features2d_8h_source.html
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api/latest/FlannIndex_8h_source.html
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api/latest/GPS_8h_source.html
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<div class="headertitle"><div class="title">ImuMotionPredictor.h</div></div>
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<div class="contents">
<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) 2010-2026, 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 RTABMAP_CORE_IMUMOTIONPREDICTOR_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define RTABMAP_CORE_IMUMOTIONPREDICTOR_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 &lt;rtabmap/core/rtabmap_core_export.h&gt;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include &lt;rtabmap/core/Transform.h&gt;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;rtabmap/core/IMU.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span> </div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include &lt;vector&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> </div>
<div class="foldopen" id="foldopen00077" data-start="{" data-end="};">
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html"> 77</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1ImuMotionPredictor.html">ImuMotionPredictor</a></div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span>{</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb"> 103</a></span> <span class="keyword">explicit</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb">ImuMotionPredictor</a>(</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">double</span> maxPoseInterval = 1.0,</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">double</span> velocityWindow = 0.5,</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">double</span> gravity = 9.80665);</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">double</span> maxPoseInterval()<span class="keyword"> const </span>{<span class="keywordflow">return</span> maxPoseInterval_;}</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">double</span> velocityWindow()<span class="keyword"> const </span>{<span class="keywordflow">return</span> velocityWindow_;}</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4"> 111</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4">gravity</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gravity_;}</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#aa84008cbd4087273e8db74d91d89ec10"> 113</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#aa84008cbd4087273e8db74d91d89ec10">isGravityEstimated</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gravityEstimated_;}</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a91c329f153da4c479509e406f6eb5112"> 115</a></span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a91c329f153da4c479509e406f6eb5112">gravityWindows</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gravityWindowsCount_;}</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04"> 127</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04">addImu</a>(<span class="keywordtype">double</span> stamp, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> &amp; imu);</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47"> 135</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47">addPose</a>(<span class="keywordtype">double</span> stamp, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; pose);</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a2b8b4cd814ae31ef46899f41992bb1a4"> 139</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a2b8b4cd814ae31ef46899f41992bb1a4">reset</a>();</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0"> 149</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0">predict</a>(<span class="keywordtype">double</span> stamp) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb"> 152</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb">hasPose</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95"> 154</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95">lastPoseStamp</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a18e326faaa67a3602eaf3b4df7a906ff"> 156</a></span> Eigen::Vector3d <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a18e326faaa67a3602eaf3b4df7a906ff">velocity</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a39dc460db30550b24646b312b3329245"> 158</a></span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a39dc460db30550b24646b312b3329245">samples</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> </div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="comment">// orientation: of the base frame in the IMU&#39;s world frame; acceleration: of the base in</span></div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="comment">// that frame, gravity removed</span></div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="comment">// specificForce: in that frame too, including the reaction to gravity (see</span></div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="comment">// hasAcceleration)</span></div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">void</span> addSample(<span class="keywordtype">double</span> stamp, <span class="keyword">const</span> Eigen::Quaterniond &amp; orientation,</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keyword">const</span> Eigen::Vector3d &amp; specificForce, <span class="keywordtype">bool</span> hasAcceleration);</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="comment">// Gravity estimation, from the IMU&#39;s own specific force and angular velocity norm</span></div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">void</span> estimateGravity(<span class="keywordtype">double</span> stamp, <span class="keyword">const</span> Eigen::Vector3d &amp; specificForce, <span class="keywordtype">double</span> angularVelocity);</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> </div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keyword">struct </span>Sample</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> {</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> Eigen::Quaterniond orientation;</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="comment">// Kept with gravity, which is removed when used: the estimate can change</span></div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> Eigen::Vector3d specificForce;</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">bool</span> hasAcceleration;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> };</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="comment">// Acceleration of a sample, gravity removed (null without acceleration)</span></div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> Eigen::Vector3d accelerationOf(<span class="keyword">const</span> Sample &amp; sample) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> Eigen::Quaterniond orientationAt(<span class="keywordtype">double</span> stamp) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> Eigen::Vector3d accelerationAt(<span class="keywordtype">double</span> stamp) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">void</span> integrate(<span class="keywordtype">double</span> from, <span class="keywordtype">double</span> to, <span class="keyword">const</span> Eigen::Quaterniond &amp; rotation,</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> Eigen::Vector3d &amp; velocity, Eigen::Vector3d &amp; position) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">void</span> updateIntegration() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> </div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="comment">// The acceleration integrated from the last pose up to a sample&#39;s stamp, in the</span></div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="comment">// odometry frame: predicting a stamp then only integrates from the sample before it.</span></div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keyword">struct </span>Integrated</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> {</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> Eigen::Vector3d acceleration; <span class="comment">// at that stamp</span></div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> Eigen::Vector3d velocity; <span class="comment">// change since the last pose</span></div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> Eigen::Vector3d position; <span class="comment">// change since the last pose (without its velocity)</span></div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> };</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keywordtype">double</span> maxPoseInterval_;</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keywordtype">double</span> velocityWindow_;</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordtype">double</span> gravity_;</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keywordtype">bool</span> gravityEstimated_;</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> std::map&lt;double, Sample&gt; samples_;</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> </div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="comment">// Gravity estimation: the samples of the current window, and the gravity measured over</span></div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="comment">// the last quiet windows</span></div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keyword">struct </span>StillSample</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> {</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">double</span> stamp;</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> Eigen::Vector3d specificForce; <span class="comment">// in the IMU frame</span></div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordtype">double</span> angularVelocity; <span class="comment">// norm</span></div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> };</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> std::vector&lt;StillSample&gt; stillWindow_;</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> std::vector&lt;double&gt; gravityWindows_;</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">size_t</span> gravityWindowsCount_;</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="comment">// Recent odometry poses, to estimate the velocity from (see velocityWindow)</span></div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> std::map&lt;double, rtabmap::Transform&gt; poses_;</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> </div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="comment">// The last odometry pose and the state predictions start from.</span></div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">double</span> poseStamp_;</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> pose_;</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> Eigen::Vector3d velocity_;</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="comment">// Rotation from the IMU&#39;s world frame to the odometry frame, at the last pose: the two</span></div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="comment">// are both gravity aligned, but their yaw differ.</span></div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> Eigen::Quaterniond worldToOdom_;</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> </div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="comment">// Built lazily by predict(), from the last pose to the newest sample; cleared when the</span></div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="comment">// pose or the samples it was built from change.</span></div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keyword">mutable</span> std::map&lt;double, Integrated&gt; integrated_;</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="comment">// Whether the acceleration at the last pose&#39;s stamp (the first entry) is final: it is</span></div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="comment">// held constant from the newest sample until a sample after that stamp is received.</span></div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keyword">mutable</span> <span class="keywordtype">bool</span> integratedStartIsFinal_;</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span>};</div>
</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> </div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span>}</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"> 233</span><span class="preprocessor">#endif </span><span class="comment">/* RTABMAP_CORE_IMUMOTIONPREDICTOR_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1IMU_html"><div class="ttname"><a href="classrtabmap_1_1IMU.html">rtabmap::IMU</a></div><div class="ttdoc">Inertial measurement sample (ROS sensor_msgs/Imu-like fields).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00056">IMU.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></div><div class="ttdoc">Predicts the pose of the base frame from the last odometry pose and the IMU.</div><div class="ttdef"><b>Definition</b> <a href="ImuMotionPredictor_8h_source.html#l00077">ImuMotionPredictor.h:78</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a18e326faaa67a3602eaf3b4df7a906ff"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a18e326faaa67a3602eaf3b4df7a906ff">rtabmap::ImuMotionPredictor::velocity</a></div><div class="ttdeci">Eigen::Vector3d velocity() const</div><div class="ttdoc">Velocity (m/s) of the base in the odometry frame at the last pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a2b8b4cd814ae31ef46899f41992bb1a4"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a2b8b4cd814ae31ef46899f41992bb1a4">rtabmap::ImuMotionPredictor::reset</a></div><div class="ttdeci">void reset()</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a2c30a766cc8f251b78ed490cb2a275eb"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb">rtabmap::ImuMotionPredictor::hasPose</a></div><div class="ttdeci">bool hasPose() const</div><div class="ttdoc">Whether there is a pose to predict from (none yet, or the last one was null).</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a3359e2caff4d42fbcd4137b39aa2ae04"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04">rtabmap::ImuMotionPredictor::addImu</a></div><div class="ttdeci">void addImu(double stamp, const IMU &amp;imu)</div><div class="ttdoc">Adds an IMU measurement.</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a39dc460db30550b24646b312b3329245"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a39dc460db30550b24646b312b3329245">rtabmap::ImuMotionPredictor::samples</a></div><div class="ttdeci">size_t samples() const</div><div class="ttdoc">Number of IMU samples kept.</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a4ddd3b124501b8446869a38b1ab1ff95"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95">rtabmap::ImuMotionPredictor::lastPoseStamp</a></div><div class="ttdeci">double lastPoseStamp() const</div><div class="ttdoc">Stamp of the last pose added, 0 if there is none.</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a53a73e2ebf60ff671828732594adc7c4"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4">rtabmap::ImuMotionPredictor::gravity</a></div><div class="ttdeci">double gravity() const</div><div class="ttdoc">Gravity (m/s^2) removed from the specific force: the one given, or the estimate.</div><div class="ttdef"><b>Definition</b> <a href="ImuMotionPredictor_8h_source.html#l00111">ImuMotionPredictor.h:111</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a765b9d6ae74d6fdcfbcc55e9d28b3feb"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb">rtabmap::ImuMotionPredictor::ImuMotionPredictor</a></div><div class="ttdeci">ImuMotionPredictor(double maxPoseInterval=1.0, double velocityWindow=0.5, double gravity=9.80665)</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a91c329f153da4c479509e406f6eb5112"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a91c329f153da4c479509e406f6eb5112">rtabmap::ImuMotionPredictor::gravityWindows</a></div><div class="ttdeci">size_t gravityWindows() const</div><div class="ttdoc">Number of quiet IMU windows the gravity estimate is from (0: not estimated yet)</div><div class="ttdef"><b>Definition</b> <a href="ImuMotionPredictor_8h_source.html#l00115">ImuMotionPredictor.h:115</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_aa84008cbd4087273e8db74d91d89ec10"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#aa84008cbd4087273e8db74d91d89ec10">rtabmap::ImuMotionPredictor::isGravityEstimated</a></div><div class="ttdeci">bool isGravityEstimated() const</div><div class="ttdoc">Whether the gravity is estimated from the IMU (see the constructor)</div><div class="ttdef"><b>Definition</b> <a href="ImuMotionPredictor_8h_source.html#l00113">ImuMotionPredictor.h:113</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_abb4349e5902040e5440f425e0bc39c47"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47">rtabmap::ImuMotionPredictor::addPose</a></div><div class="ttdeci">void addPose(double stamp, const rtabmap::Transform &amp;pose)</div><div class="ttdoc">Adds an odometry pose, from which the next poses are predicted.</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_ac9bd37d201be18aaecfbfdbdbaec6ff0"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0">rtabmap::ImuMotionPredictor::predict</a></div><div class="ttdeci">rtabmap::Transform predict(double stamp) const</div><div class="ttdoc">Predicts the pose of the base frame in the odometry frame.</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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></div></div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
api/latest/OctoMap_8h_source.html
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<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
api/latest/OdometryCuVSLAM_8h_source.html
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<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -213,8 +213,8 @@ $(document).ready(function(){initNavTree('OdometryCuVSLAM_8h_source.html',''); i
<div class="ttc" id="aclassrtabmap_1_1OdometryCuVSLAM_html_a4cb0a09fc8eb184b2e0d915980b02742"><div class="ttname"><a href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742">rtabmap::OdometryCuVSLAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryCuVSLAM_html_a4cb0a09fc8eb184b2e0d915980b02742"><div class="ttname"><a href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742">rtabmap::OdometryCuVSLAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryCuVSLAM_html_a68801df22a6803dabf7a064b99e04898"><div class="ttname"><a href="classrtabmap_1_1OdometryCuVSLAM.html#a68801df22a6803dabf7a064b99e04898">rtabmap::OdometryCuVSLAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryCuVSLAM_8h_source.html#l00052">OdometryCuVSLAM.h:52</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryCuVSLAM_html_a68801df22a6803dabf7a064b99e04898"><div class="ttname"><a href="classrtabmap_1_1OdometryCuVSLAM.html#a68801df22a6803dabf7a064b99e04898">rtabmap::OdometryCuVSLAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryCuVSLAM_8h_source.html#l00052">OdometryCuVSLAM.h:52</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryDVO_8h_source.html
+3 -3
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<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -181,8 +181,8 @@ $(document).ready(function(){initNavTree('OdometryDVO_8h_source.html',''); initR
<div class="ttc" id="aclassrtabmap_1_1OdometryDVO_html_a8475f5a8b1ba4e288ba58daf6284acc9"><div class="ttname"><a href="classrtabmap_1_1OdometryDVO.html#a8475f5a8b1ba4e288ba58daf6284acc9">rtabmap::OdometryDVO::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryDVO_8h_source.html#l00050">OdometryDVO.h:50</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryDVO_html_a8475f5a8b1ba4e288ba58daf6284acc9"><div class="ttname"><a href="classrtabmap_1_1OdometryDVO.html#a8475f5a8b1ba4e288ba58daf6284acc9">rtabmap::OdometryDVO::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryDVO_8h_source.html#l00050">OdometryDVO.h:50</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryDVO_html_aa20fb31a7bf255caa1f13b0b69b2ee65"><div class="ttname"><a href="classrtabmap_1_1OdometryDVO.html#aa20fb31a7bf255caa1f13b0b69b2ee65">rtabmap::OdometryDVO::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryDVO_html_aa20fb31a7bf255caa1f13b0b69b2ee65"><div class="ttname"><a href="classrtabmap_1_1OdometryDVO.html#aa20fb31a7bf255caa1f13b0b69b2ee65">rtabmap::OdometryDVO::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryEvent_8h_source.html
+1 -1
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
api/latest/OdometryF2F_8h_source.html
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -179,8 +179,8 @@ $(document).ready(function(){initNavTree('OdometryF2F_8h_source.html',''); initR
<div class="ttc" id="aclassrtabmap_1_1OdometryF2F_html_a7fb0eb46ed5b40e15299bc40b5cd4eb5"><div class="ttname"><a href="classrtabmap_1_1OdometryF2F.html#a7fb0eb46ed5b40e15299bc40b5cd4eb5">rtabmap::OdometryF2F::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryF2F_html_a7fb0eb46ed5b40e15299bc40b5cd4eb5"><div class="ttname"><a href="classrtabmap_1_1OdometryF2F.html#a7fb0eb46ed5b40e15299bc40b5cd4eb5">rtabmap::OdometryF2F::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryF2F_html_af0e2f40a3dd28b9e1e84159bcf9df323"><div class="ttname"><a href="classrtabmap_1_1OdometryF2F.html#af0e2f40a3dd28b9e1e84159bcf9df323">rtabmap::OdometryF2F::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryF2F_8h_source.html#l00048">OdometryF2F.h:48</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryF2F_html_af0e2f40a3dd28b9e1e84159bcf9df323"><div class="ttname"><a href="classrtabmap_1_1OdometryF2F.html#af0e2f40a3dd28b9e1e84159bcf9df323">rtabmap::OdometryF2F::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryF2F_8h_source.html#l00048">OdometryF2F.h:48</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html"><div class="ttname"><a href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></div><div class="ttdoc">Abstract base for registering two observations (visual, ICP, or both).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00060">Registration.h:61</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Registration_html"><div class="ttname"><a href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></div><div class="ttdoc">Abstract base for registering two observations (visual, ICP, or both).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00060">Registration.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
api/latest/OdometryF2M_8h_source.html
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -212,8 +212,8 @@ $(document).ready(function(){initNavTree('OdometryF2M_8h_source.html',''); initR
<div class="ttc" id="aclassrtabmap_1_1OdometryF2M_html_a7a4b7219e339bbea7761601027f192d2"><div class="ttname"><a href="classrtabmap_1_1OdometryF2M.html#a7a4b7219e339bbea7761601027f192d2">rtabmap::OdometryF2M::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryF2M_html_a7a4b7219e339bbea7761601027f192d2"><div class="ttname"><a href="classrtabmap_1_1OdometryF2M.html#a7a4b7219e339bbea7761601027f192d2">rtabmap::OdometryF2M::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryF2M_html_aa0244571578fd8604470d8c21af01611"><div class="ttname"><a href="classrtabmap_1_1OdometryF2M.html#aa0244571578fd8604470d8c21af01611">rtabmap::OdometryF2M::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryF2M_8h_source.html#l00054">OdometryF2M.h:54</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryF2M_html_aa0244571578fd8604470d8c21af01611"><div class="ttname"><a href="classrtabmap_1_1OdometryF2M.html#aa0244571578fd8604470d8c21af01611">rtabmap::OdometryF2M::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryF2M_8h_source.html#l00054">OdometryF2M.h:54</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></div><div class="ttdoc">Abstract base for pose-graph and bundle-adjustment optimizers.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00090">Optimizer.h:91</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Optimizer_html"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></div><div class="ttdoc">Abstract base for pose-graph and bundle-adjustment optimizers.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00090">Optimizer.h:91</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html"><div class="ttname"><a href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></div><div class="ttdoc">Abstract base for registering two observations (visual, ICP, or both).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00060">Registration.h:61</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Registration_html"><div class="ttname"><a href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></div><div class="ttdoc">Abstract base for registering two observations (visual, ICP, or both).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00060">Registration.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
api/latest/OdometryFLOAM_8h_source.html
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -176,8 +176,8 @@ $(document).ready(function(){initNavTree('OdometryFLOAM_8h_source.html',''); ini
<div class="ttc" id="aclassrtabmap_1_1OdometryFLOAM_html_a311c8b022d0a2dc6219b97a8e2b40d84"><div class="ttname"><a href="classrtabmap_1_1OdometryFLOAM.html#a311c8b022d0a2dc6219b97a8e2b40d84">rtabmap::OdometryFLOAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryFLOAM_8h_source.html#l00045">OdometryFLOAM.h:45</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryFLOAM_html_a311c8b022d0a2dc6219b97a8e2b40d84"><div class="ttname"><a href="classrtabmap_1_1OdometryFLOAM.html#a311c8b022d0a2dc6219b97a8e2b40d84">rtabmap::OdometryFLOAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryFLOAM_8h_source.html#l00045">OdometryFLOAM.h:45</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryFLOAM_html_a85105e691f68317b2816566cb7440e46"><div class="ttname"><a href="classrtabmap_1_1OdometryFLOAM.html#a85105e691f68317b2816566cb7440e46">rtabmap::OdometryFLOAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryFLOAM_html_a85105e691f68317b2816566cb7440e46"><div class="ttname"><a href="classrtabmap_1_1OdometryFLOAM.html#a85105e691f68317b2816566cb7440e46">rtabmap::OdometryFLOAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryFovis_8h_source.html
+3 -3
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -182,8 +182,8 @@ $(document).ready(function(){initNavTree('OdometryFovis_8h_source.html',''); ini
<div class="ttc" id="aclassrtabmap_1_1OdometryFovis_html_a0175e1e923673028f1d647aaa185447c"><div class="ttname"><a href="classrtabmap_1_1OdometryFovis.html#a0175e1e923673028f1d647aaa185447c">rtabmap::OdometryFovis::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryFovis_html_a0175e1e923673028f1d647aaa185447c"><div class="ttname"><a href="classrtabmap_1_1OdometryFovis.html#a0175e1e923673028f1d647aaa185447c">rtabmap::OdometryFovis::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryFovis_html_a415b08f31a2ab8ff503c84623df71f0d"><div class="ttname"><a href="classrtabmap_1_1OdometryFovis.html#a415b08f31a2ab8ff503c84623df71f0d">rtabmap::OdometryFovis::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryFovis_8h_source.html#l00050">OdometryFovis.h:50</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryFovis_html_a415b08f31a2ab8ff503c84623df71f0d"><div class="ttname"><a href="classrtabmap_1_1OdometryFovis.html#a415b08f31a2ab8ff503c84623df71f0d">rtabmap::OdometryFovis::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryFovis_8h_source.html#l00050">OdometryFovis.h:50</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryInfo_8h_source.html
+1 -1
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
api/latest/OdometryLIOSAM_8h_source.html
+3 -3
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -195,8 +195,8 @@ $(document).ready(function(){initNavTree('OdometryLIOSAM_8h_source.html',''); in
<div class="ttc" id="aclassrtabmap_1_1OdometryLIOSAM_html_a51193d7f42c9b0174c6eedd75d8f4535"><div class="ttname"><a href="classrtabmap_1_1OdometryLIOSAM.html#a51193d7f42c9b0174c6eedd75d8f4535">rtabmap::OdometryLIOSAM::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryLIOSAM_8h_source.html#l00050">OdometryLIOSAM.h:50</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryLIOSAM_html_a51193d7f42c9b0174c6eedd75d8f4535"><div class="ttname"><a href="classrtabmap_1_1OdometryLIOSAM.html#a51193d7f42c9b0174c6eedd75d8f4535">rtabmap::OdometryLIOSAM::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryLIOSAM_8h_source.html#l00050">OdometryLIOSAM.h:50</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryLIOSAM_html_a7f72dbc28081ae774303dbf2d8cb5535"><div class="ttname"><a href="classrtabmap_1_1OdometryLIOSAM.html#a7f72dbc28081ae774303dbf2d8cb5535">rtabmap::OdometryLIOSAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryLIOSAM_html_a7f72dbc28081ae774303dbf2d8cb5535"><div class="ttname"><a href="classrtabmap_1_1OdometryLIOSAM.html#a7f72dbc28081ae774303dbf2d8cb5535">rtabmap::OdometryLIOSAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryLIOSAM_html_aea8d8aea35772e3b81ba3f74c6eb3415"><div class="ttname"><a href="classrtabmap_1_1OdometryLIOSAM.html#aea8d8aea35772e3b81ba3f74c6eb3415">rtabmap::OdometryLIOSAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryLIOSAM_8h_source.html#l00049">OdometryLIOSAM.h:49</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryLIOSAM_html_aea8d8aea35772e3b81ba3f74c6eb3415"><div class="ttname"><a href="classrtabmap_1_1OdometryLIOSAM.html#aea8d8aea35772e3b81ba3f74c6eb3415">rtabmap::OdometryLIOSAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryLIOSAM_8h_source.html#l00049">OdometryLIOSAM.h:49</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryLOAM_8h_source.html
+3 -3
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -187,8 +187,8 @@ $(document).ready(function(){initNavTree('OdometryLOAM_8h_source.html',''); init
<div class="ttc" id="aclassrtabmap_1_1OdometryLOAM_html"><div class="ttname"><a href="classrtabmap_1_1OdometryLOAM.html">rtabmap::OdometryLOAM</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryLOAM_8h_source.html#l00043">OdometryLOAM.h:44</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryLOAM_html"><div class="ttname"><a href="classrtabmap_1_1OdometryLOAM.html">rtabmap::OdometryLOAM</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryLOAM_8h_source.html#l00043">OdometryLOAM.h:44</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryLOAM_html_a0833118684e4f836ec668b735f81da0d"><div class="ttname"><a href="classrtabmap_1_1OdometryLOAM.html#a0833118684e4f836ec668b735f81da0d">rtabmap::OdometryLOAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryLOAM_8h_source.html#l00050">OdometryLOAM.h:50</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryLOAM_html_a0833118684e4f836ec668b735f81da0d"><div class="ttname"><a href="classrtabmap_1_1OdometryLOAM.html#a0833118684e4f836ec668b735f81da0d">rtabmap::OdometryLOAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryLOAM_8h_source.html#l00050">OdometryLOAM.h:50</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryLOAM_html_a6acc7b4f164a8915ada550ba7c23ac0e"><div class="ttname"><a href="classrtabmap_1_1OdometryLOAM.html#a6acc7b4f164a8915ada550ba7c23ac0e">rtabmap::OdometryLOAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryLOAM_html_a6acc7b4f164a8915ada550ba7c23ac0e"><div class="ttname"><a href="classrtabmap_1_1OdometryLOAM.html#a6acc7b4f164a8915ada550ba7c23ac0e">rtabmap::OdometryLOAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryMSCKF_8h_source.html
+3 -3
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -181,8 +181,8 @@ $(document).ready(function(){initNavTree('OdometryMSCKF_8h_source.html',''); ini
<div class="ttc" id="aclassrtabmap_1_1OdometryMSCKF_html_a3be4ada7eebf234c87a3127a85988d97"><div class="ttname"><a href="classrtabmap_1_1OdometryMSCKF.html#a3be4ada7eebf234c87a3127a85988d97">rtabmap::OdometryMSCKF::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryMSCKF_html_a3be4ada7eebf234c87a3127a85988d97"><div class="ttname"><a href="classrtabmap_1_1OdometryMSCKF.html#a3be4ada7eebf234c87a3127a85988d97">rtabmap::OdometryMSCKF::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryMSCKF_html_a4dd9c2358d2e69f397b61746519a923a"><div class="ttname"><a href="classrtabmap_1_1OdometryMSCKF.html#a4dd9c2358d2e69f397b61746519a923a">rtabmap::OdometryMSCKF::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryMSCKF_8h_source.html#l00047">OdometryMSCKF.h:47</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryMSCKF_html_a4dd9c2358d2e69f397b61746519a923a"><div class="ttname"><a href="classrtabmap_1_1OdometryMSCKF.html#a4dd9c2358d2e69f397b61746519a923a">rtabmap::OdometryMSCKF::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryMSCKF_8h_source.html#l00047">OdometryMSCKF.h:47</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryMSCKF_html_a81657f9c46e39bfa48e1d0021c5af8ea"><div class="ttname"><a href="classrtabmap_1_1OdometryMSCKF.html#a81657f9c46e39bfa48e1d0021c5af8ea">rtabmap::OdometryMSCKF::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryMSCKF_8h_source.html#l00045">OdometryMSCKF.h:45</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryMSCKF_html_a81657f9c46e39bfa48e1d0021c5af8ea"><div class="ttname"><a href="classrtabmap_1_1OdometryMSCKF.html#a81657f9c46e39bfa48e1d0021c5af8ea">rtabmap::OdometryMSCKF::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryMSCKF_8h_source.html#l00045">OdometryMSCKF.h:45</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryMono_8h_source.html
+3 -3
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -197,8 +197,8 @@ $(document).ready(function(){initNavTree('OdometryMono_8h_source.html',''); init
<div class="ttc" id="aclassrtabmap_1_1OdometryMono_html"><div class="ttname"><a href="classrtabmap_1_1OdometryMono.html">rtabmap::OdometryMono</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryMono_8h_source.html#l00039">OdometryMono.h:40</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryMono_html"><div class="ttname"><a href="classrtabmap_1_1OdometryMono.html">rtabmap::OdometryMono</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryMono_8h_source.html#l00039">OdometryMono.h:40</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryMono_html_a9574ccc748b5c4f664c059d460742457"><div class="ttname"><a href="classrtabmap_1_1OdometryMono.html#a9574ccc748b5c4f664c059d460742457">rtabmap::OdometryMono::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose)</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryMono_html_a9574ccc748b5c4f664c059d460742457"><div class="ttname"><a href="classrtabmap_1_1OdometryMono.html#a9574ccc748b5c4f664c059d460742457">rtabmap::OdometryMono::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose)</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryMono_html_ada54391f88a0704c4fab2d9a2b370a15"><div class="ttname"><a href="classrtabmap_1_1OdometryMono.html#ada54391f88a0704c4fab2d9a2b370a15">rtabmap::OdometryMono::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryMono_8h_source.html#l00045">OdometryMono.h:45</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryMono_html_ada54391f88a0704c4fab2d9a2b370a15"><div class="ttname"><a href="classrtabmap_1_1OdometryMono.html#ada54391f88a0704c4fab2d9a2b370a15">rtabmap::OdometryMono::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryMono_8h_source.html#l00045">OdometryMono.h:45</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryORBSLAM2_8h_source.html
+3 -3
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -174,8 +174,8 @@ $(document).ready(function(){initNavTree('OdometryORBSLAM2_8h_source.html','');
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM2_html"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM2.html">rtabmap::OdometryORBSLAM2</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryORBSLAM2_8h_source.html#l00038">OdometryORBSLAM2.h:39</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM2_html"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM2.html">rtabmap::OdometryORBSLAM2</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryORBSLAM2_8h_source.html#l00038">OdometryORBSLAM2.h:39</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM2_html_a8773eea08df092d237e17af96ff6d096"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM2.html#a8773eea08df092d237e17af96ff6d096">rtabmap::OdometryORBSLAM2::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryORBSLAM2_8h_source.html#l00045">OdometryORBSLAM2.h:45</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM2_html_a8773eea08df092d237e17af96ff6d096"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM2.html#a8773eea08df092d237e17af96ff6d096">rtabmap::OdometryORBSLAM2::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryORBSLAM2_8h_source.html#l00045">OdometryORBSLAM2.h:45</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM2_html_ab127fac7aae296a68a9bf68ab02ffbbc"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM2.html#ab127fac7aae296a68a9bf68ab02ffbbc">rtabmap::OdometryORBSLAM2::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM2_html_ab127fac7aae296a68a9bf68ab02ffbbc"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM2.html#ab127fac7aae296a68a9bf68ab02ffbbc">rtabmap::OdometryORBSLAM2::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryORBSLAM3_8h_source.html
+3 -3
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -185,8 +185,8 @@ $(document).ready(function(){initNavTree('OdometryORBSLAM3_8h_source.html','');
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM3_html_a2f226f38792f0c8bc146d73985239370"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM3.html#a2f226f38792f0c8bc146d73985239370">rtabmap::OdometryORBSLAM3::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM3_html_a2f226f38792f0c8bc146d73985239370"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM3.html#a2f226f38792f0c8bc146d73985239370">rtabmap::OdometryORBSLAM3::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM3_html_a57626265fa4c23fab95140ca9c1f8f93"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM3.html#a57626265fa4c23fab95140ca9c1f8f93">rtabmap::OdometryORBSLAM3::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM3_html_a57626265fa4c23fab95140ca9c1f8f93"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM3.html#a57626265fa4c23fab95140ca9c1f8f93">rtabmap::OdometryORBSLAM3::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM3_html_a6a4161d9be51ff66e3571ba912655029"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM3.html#a6a4161d9be51ff66e3571ba912655029">rtabmap::OdometryORBSLAM3::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryORBSLAM3_8h_source.html#l00046">OdometryORBSLAM3.h:46</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM3_html_a6a4161d9be51ff66e3571ba912655029"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM3.html#a6a4161d9be51ff66e3571ba912655029">rtabmap::OdometryORBSLAM3::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryORBSLAM3_8h_source.html#l00046">OdometryORBSLAM3.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryOkvis_8h_source.html
+3 -3
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -184,8 +184,8 @@ $(document).ready(function(){initNavTree('OdometryOkvis_8h_source.html',''); ini
<div class="ttc" id="aclassrtabmap_1_1OdometryOkvis_html_a81f51ca0b6f3b48f9e6a6e0e2d7b7118"><div class="ttname"><a href="classrtabmap_1_1OdometryOkvis.html#a81f51ca0b6f3b48f9e6a6e0e2d7b7118">rtabmap::OdometryOkvis::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryOkvis_html_a81f51ca0b6f3b48f9e6a6e0e2d7b7118"><div class="ttname"><a href="classrtabmap_1_1OdometryOkvis.html#a81f51ca0b6f3b48f9e6a6e0e2d7b7118">rtabmap::OdometryOkvis::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOkvis_html_ab93efd88da4ff30e4ee4a0ec525347d8"><div class="ttname"><a href="classrtabmap_1_1OdometryOkvis.html#ab93efd88da4ff30e4ee4a0ec525347d8">rtabmap::OdometryOkvis::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryOkvis_8h_source.html#l00047">OdometryOkvis.h:47</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryOkvis_html_ab93efd88da4ff30e4ee4a0ec525347d8"><div class="ttname"><a href="classrtabmap_1_1OdometryOkvis.html#ab93efd88da4ff30e4ee4a0ec525347d8">rtabmap::OdometryOkvis::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryOkvis_8h_source.html#l00047">OdometryOkvis.h:47</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOkvis_html_ad4d4602445081fff30b74d1c7e22dbff"><div class="ttname"><a href="classrtabmap_1_1OdometryOkvis.html#ad4d4602445081fff30b74d1c7e22dbff">rtabmap::OdometryOkvis::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryOkvis_8h_source.html#l00048">OdometryOkvis.h:48</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryOkvis_html_ad4d4602445081fff30b74d1c7e22dbff"><div class="ttname"><a href="classrtabmap_1_1OdometryOkvis.html#ad4d4602445081fff30b74d1c7e22dbff">rtabmap::OdometryOkvis::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryOkvis_8h_source.html#l00048">OdometryOkvis.h:48</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryOpen3D_8h_source.html
+3 -3
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -171,8 +171,8 @@ $(document).ready(function(){initNavTree('OdometryOpen3D_8h_source.html',''); in
<div class="ttc" id="aclassrtabmap_1_1OdometryOpen3D_html"><div class="ttname"><a href="classrtabmap_1_1OdometryOpen3D.html">rtabmap::OdometryOpen3D</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryOpen3D_8h_source.html#l00035">OdometryOpen3D.h:36</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryOpen3D_html"><div class="ttname"><a href="classrtabmap_1_1OdometryOpen3D.html">rtabmap::OdometryOpen3D</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryOpen3D_8h_source.html#l00035">OdometryOpen3D.h:36</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOpen3D_html_a21fecb34185676d02d92c7ad18f13970"><div class="ttname"><a href="classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970">rtabmap::OdometryOpen3D::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryOpen3D_html_a21fecb34185676d02d92c7ad18f13970"><div class="ttname"><a href="classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970">rtabmap::OdometryOpen3D::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOpen3D_html_a79c86c26bd892619797d6266243bb8d6"><div class="ttname"><a href="classrtabmap_1_1OdometryOpen3D.html#a79c86c26bd892619797d6266243bb8d6">rtabmap::OdometryOpen3D::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryOpen3D_8h_source.html#l00042">OdometryOpen3D.h:42</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryOpen3D_html_a79c86c26bd892619797d6266243bb8d6"><div class="ttname"><a href="classrtabmap_1_1OdometryOpen3D.html#a79c86c26bd892619797d6266243bb8d6">rtabmap::OdometryOpen3D::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryOpen3D_8h_source.html#l00042">OdometryOpen3D.h:42</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryOpenVINS_8h_source.html
+3 -3
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -180,8 +180,8 @@ $(document).ready(function(){initNavTree('OdometryOpenVINS_8h_source.html','');
<div class="ttc" id="aclassrtabmap_1_1OdometryOpenVINS_html_a79898924aa5af5d59ce10028e876e387"><div class="ttname"><a href="classrtabmap_1_1OdometryOpenVINS.html#a79898924aa5af5d59ce10028e876e387">rtabmap::OdometryOpenVINS::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryOpenVINS_8h_source.html#l00046">OdometryOpenVINS.h:46</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryOpenVINS_html_a79898924aa5af5d59ce10028e876e387"><div class="ttname"><a href="classrtabmap_1_1OdometryOpenVINS.html#a79898924aa5af5d59ce10028e876e387">rtabmap::OdometryOpenVINS::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryOpenVINS_8h_source.html#l00046">OdometryOpenVINS.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOpenVINS_html_abbf8f6be20990f3e39ad23325d72b41b"><div class="ttname"><a href="classrtabmap_1_1OdometryOpenVINS.html#abbf8f6be20990f3e39ad23325d72b41b">rtabmap::OdometryOpenVINS::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryOpenVINS_html_abbf8f6be20990f3e39ad23325d72b41b"><div class="ttname"><a href="classrtabmap_1_1OdometryOpenVINS.html#abbf8f6be20990f3e39ad23325d72b41b">rtabmap::OdometryOpenVINS::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOpenVINS_html_aed27c46aa9ddc68c59eb09f2b3a9d3d0"><div class="ttname"><a href="classrtabmap_1_1OdometryOpenVINS.html#aed27c46aa9ddc68c59eb09f2b3a9d3d0">rtabmap::OdometryOpenVINS::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryOpenVINS_8h_source.html#l00047">OdometryOpenVINS.h:47</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryOpenVINS_html_aed27c46aa9ddc68c59eb09f2b3a9d3d0"><div class="ttname"><a href="classrtabmap_1_1OdometryOpenVINS.html#aed27c46aa9ddc68c59eb09f2b3a9d3d0">rtabmap::OdometryOpenVINS::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryOpenVINS_8h_source.html#l00047">OdometryOpenVINS.h:47</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryThread_8h_source.html
+2 -2
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -194,7 +194,7 @@ $(document).ready(function(){initNavTree('OdometryThread_8h_source.html',''); in
<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html">rtabmap::OdometryThread</a></div><div class="ttdoc">Runs an Odometry front-end in its own thread, driven by events.</div><div class="ttdef"><b>Definition</b> <a href="OdometryThread_8h_source.html#l00080">OdometryThread.h:80</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryThread_html"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html">rtabmap::OdometryThread</a></div><div class="ttdoc">Runs an Odometry front-end in its own thread, driven by events.</div><div class="ttdef"><b>Definition</b> <a href="OdometryThread_8h_source.html#l00080">OdometryThread.h:80</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html_a65808dd7148c1e2c49dcf90ef718b5a8"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">rtabmap::OdometryThread::handleEvent</a></div><div class="ttdeci">virtual bool handleEvent(UEvent *event)</div><div class="ttdoc">Receives the events listed in the class description.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryThread_html_a65808dd7148c1e2c49dcf90ef718b5a8"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">rtabmap::OdometryThread::handleEvent</a></div><div class="ttdeci">virtual bool handleEvent(UEvent *event)</div><div class="ttdoc">Receives the events listed in the class description.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html_a66435ffb547d7d59faa9224fe030934b"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html#a66435ffb547d7d59faa9224fe030934b">rtabmap::OdometryThread::OdometryThread</a></div><div class="ttdeci">OdometryThread(Odometry *odometry, unsigned int dataBufferMaxSize=1)</div><div class="ttdoc">Constructor.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryThread_html_a66435ffb547d7d59faa9224fe030934b"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html#a66435ffb547d7d59faa9224fe030934b">rtabmap::OdometryThread::OdometryThread</a></div><div class="ttdeci">OdometryThread(Odometry *odometry, unsigned int dataBufferMaxSize=1)</div><div class="ttdoc">Constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorEvent_html"><div class="ttname"><a href="classrtabmap_1_1SensorEvent.html">rtabmap::SensorEvent</a></div><div class="ttdoc">Event class for sensor data communication in RTAB-Map's event system.</div><div class="ttdef"><b>Definition</b> <a href="SensorEvent_8h_source.html#l00063">SensorEvent.h:65</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorEvent_html"><div class="ttname"><a href="classrtabmap_1_1SensorEvent.html">rtabmap::SensorEvent</a></div><div class="ttdoc">Event class for sensor data communication in RTAB-Map's event system.</div><div class="ttdef"><b>Definition</b> <a href="SensorEvent_8h_source.html#l00063">SensorEvent.h:65</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryVINSFusion_8h_source.html
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -179,8 +179,8 @@ $(document).ready(function(){initNavTree('OdometryVINSFusion_8h_source.html','')
<div class="ttc" id="aclassrtabmap_1_1OdometryVINSFusion_html_a505ae049f32115a81d4f4258b5fb2134"><div class="ttname"><a href="classrtabmap_1_1OdometryVINSFusion.html#a505ae049f32115a81d4f4258b5fb2134">rtabmap::OdometryVINSFusion::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryVINSFusion_8h_source.html#l00045">OdometryVINSFusion.h:45</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryVINSFusion_html_a505ae049f32115a81d4f4258b5fb2134"><div class="ttname"><a href="classrtabmap_1_1OdometryVINSFusion.html#a505ae049f32115a81d4f4258b5fb2134">rtabmap::OdometryVINSFusion::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryVINSFusion_8h_source.html#l00045">OdometryVINSFusion.h:45</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryVINSFusion_html_aa2fdb97067ad27d76c6315125a513ed3"><div class="ttname"><a href="classrtabmap_1_1OdometryVINSFusion.html#aa2fdb97067ad27d76c6315125a513ed3">rtabmap::OdometryVINSFusion::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryVINSFusion_html_aa2fdb97067ad27d76c6315125a513ed3"><div class="ttname"><a href="classrtabmap_1_1OdometryVINSFusion.html#aa2fdb97067ad27d76c6315125a513ed3">rtabmap::OdometryVINSFusion::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryVINSFusion_html_ac7e841322ccadfcfdec61cc3b698754a"><div class="ttname"><a href="classrtabmap_1_1OdometryVINSFusion.html#ac7e841322ccadfcfdec61cc3b698754a">rtabmap::OdometryVINSFusion::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryVINSFusion_8h_source.html#l00044">OdometryVINSFusion.h:44</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryVINSFusion_html_ac7e841322ccadfcfdec61cc3b698754a"><div class="ttname"><a href="classrtabmap_1_1OdometryVINSFusion.html#ac7e841322ccadfcfdec61cc3b698754a">rtabmap::OdometryVINSFusion::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryVINSFusion_8h_source.html#l00044">OdometryVINSFusion.h:44</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/OdometryVINS_8h_source.html
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
api/latest/OdometryViso2_8h_source.html
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -177,8 +177,8 @@ $(document).ready(function(){initNavTree('OdometryViso2_8h_source.html',''); ini
<div class="ttc" id="aclassrtabmap_1_1OdometryViso2_html"><div class="ttname"><a href="classrtabmap_1_1OdometryViso2.html">rtabmap::OdometryViso2</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryViso2_8h_source.html#l00037">OdometryViso2.h:38</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryViso2_html"><div class="ttname"><a href="classrtabmap_1_1OdometryViso2.html">rtabmap::OdometryViso2</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryViso2_8h_source.html#l00037">OdometryViso2.h:38</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryViso2_html_ad442b8186b72e220feace5fb0b0fec5c"><div class="ttname"><a href="classrtabmap_1_1OdometryViso2.html#ad442b8186b72e220feace5fb0b0fec5c">rtabmap::OdometryViso2::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryViso2_html_ad442b8186b72e220feace5fb0b0fec5c"><div class="ttname"><a href="classrtabmap_1_1OdometryViso2.html#ad442b8186b72e220feace5fb0b0fec5c">rtabmap::OdometryViso2::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryViso2_html_ae9bf8422bbf6d2c880098b828b5d6187"><div class="ttname"><a href="classrtabmap_1_1OdometryViso2.html#ae9bf8422bbf6d2c880098b828b5d6187">rtabmap::OdometryViso2::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryViso2_8h_source.html#l00044">OdometryViso2.h:44</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryViso2_html_ae9bf8422bbf6d2c880098b828b5d6187"><div class="ttname"><a href="classrtabmap_1_1OdometryViso2.html#ae9bf8422bbf6d2c880098b828b5d6187">rtabmap::OdometryViso2::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryViso2_8h_source.html#l00044">OdometryViso2.h:44</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></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#l00042">BayesFilter.h:42</a></div></div>
api/latest/Odometry_8h_source.html
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@@ -33,7 +33,7 @@
<tbody> <tbody>
<tr id="projectrow"> <tr id="projectrow">
<td id="projectalign"> <td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span> <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div> </div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div> <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td> </td>
@@ -141,127 +141,130 @@ $(document).ready(function(){initNavTree('Odometry_8h_source.html',''); initResi
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;rtabmap/core/Transform.h&gt;</span></div> <div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;rtabmap/core/Transform.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;rtabmap/core/SensorData.h&gt;</span></div> <div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;rtabmap/core/SensorData.h&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="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> </div> <div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;rtabmap/core/ImuMotionPredictor.h&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div> <div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div> <div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">class </span>OdometryInfo;</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">class </span>ParticleFilter;</div> <div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">class </span>OdometryInfo;</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div> <div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">class </span>ParticleFilter;</div>
<div class="foldopen" id="foldopen00056" data-start="{" data-end="};"> <div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html"> 56</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div> <div class="foldopen" id="foldopen00057" data-start="{" data-end="};">
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>{</div> <div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html"> 57</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="keyword">public</span>:</div> <div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span>{</div>
<div class="foldopen" id="foldopen00060" data-start="{" data-end="};"> <div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849"> 60</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> {</div> <div class="foldopen" id="foldopen00061" data-start="{" data-end="};">
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a7e81a250626fd76729fa01fb7b40fde5"> 61</a></span> kTypeUndef = -1, </div> <div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849"> 61</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> {</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac585174ece227de554ed25a51835d3d0"> 62</a></span> kTypeF2M = 0, </div> <div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a7e81a250626fd76729fa01fb7b40fde5"> 62</a></span> kTypeUndef = -1, </div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a81b73f734f25e9bef50a979ef6d9f662"> 63</a></span> kTypeF2F = 1, </div> <div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac585174ece227de554ed25a51835d3d0"> 63</a></span> kTypeF2M = 0, </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849aeb8888885eaa7c907a98537c7a463b8b"> 64</a></span> kTypeFovis = 2, </div> <div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a81b73f734f25e9bef50a979ef6d9f662"> 64</a></span> kTypeF2F = 1, </div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ab788cd11e7f6906987e33c0189a5c367"> 65</a></span> kTypeViso2 = 3, </div> <div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849aeb8888885eaa7c907a98537c7a463b8b"> 65</a></span> kTypeFovis = 2, </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a7fccdbc59d38d39f4de1253063d79a59"> 66</a></span> kTypeDVO = 4, </div> <div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ab788cd11e7f6906987e33c0189a5c367"> 66</a></span> kTypeViso2 = 3, </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a32b913af77b8df59d89aa226cbdf5e9b"> 67</a></span> kTypeORBSLAM = 5, </div> <div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a7fccdbc59d38d39f4de1253063d79a59"> 67</a></span> kTypeDVO = 4, </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a175924a6dd1fdfb2e162093c5a2a867b"> 68</a></span> kTypeOkvis = 6, </div> <div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a32b913af77b8df59d89aa226cbdf5e9b"> 68</a></span> kTypeORBSLAM = 5, </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849abf68726d1b5239c24ce447ceafd221aa"> 69</a></span> kTypeLOAM = 7, </div> <div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a175924a6dd1fdfb2e162093c5a2a867b"> 69</a></span> kTypeOkvis = 6, </div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a1de4ebe3cb3470d17d615e86ac791225"> 70</a></span> kTypeMSCKF = 8, </div> <div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849abf68726d1b5239c24ce447ceafd221aa"> 70</a></span> kTypeLOAM = 7, </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a1e148f21361b3e46d6ea7c83ac35a7a4"> 71</a></span> kTypeVINSFusion = 9,</div> <div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a1de4ebe3cb3470d17d615e86ac791225"> 71</a></span> kTypeMSCKF = 8, </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a9e760521384d881e2fafcc008193f65a"> 72</a></span> kTypeOpenVINS = 10, </div> <div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a1e148f21361b3e46d6ea7c83ac35a7a4"> 72</a></span> kTypeVINSFusion = 9,</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849abb9a5bbb18e4ab77c1dac6cc2fe73a68"> 73</a></span> kTypeFLOAM = 11, </div> <div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a9e760521384d881e2fafcc008193f65a"> 73</a></span> kTypeOpenVINS = 10, </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ab30949269c652911c3d8c5274ad84041"> 74</a></span> kTypeOpen3D = 12, </div> <div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849abb9a5bbb18e4ab77c1dac6cc2fe73a68"> 74</a></span> kTypeFLOAM = 11, </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849aba6f673ce43f5dfe5c1eecb303f55049"> 75</a></span> kTypeCuVSLAM = 13, </div> <div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ab30949269c652911c3d8c5274ad84041"> 75</a></span> kTypeOpen3D = 12, </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> kTypeLIOSAM = 14 </div> <div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849aba6f673ce43f5dfe5c1eecb303f55049"> 76</a></span> kTypeCuVSLAM = 13, </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac13bb66a69e4790bfa574c8a0c6c9975"> 77</a></span> };</div> <div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> kTypeLIOSAM = 14 </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac13bb66a69e4790bfa574c8a0c6c9975"> 78</a></span> };</div>
</div> </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div> <div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627"> 84</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div> <div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627"> 85</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb"> 90</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> &amp; type, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div> <div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb"> 91</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> &amp; type, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div> <div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">~Odometry</a>();</div> <div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">~Odometry</a>();</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1"> 101</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process</a>(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data, <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0);</div> <div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1"> 102</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process</a>(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data, <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0);</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315"> 108</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315">process</a>(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; guess, <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0);</div> <div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315"> 109</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315">process</a>(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; guess, <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c"> 113</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div> <div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c"> 114</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899"> 115</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Odometry::Type</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899">getType</a>() = 0;</div> <div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899"> 116</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Odometry::Type</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899">getType</a>() = 0;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0"> 117</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0">canProcessRawImages</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">false</span>;}</div> <div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0"> 118</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0">canProcessRawImages</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">false</span>;}</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528"> 119</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528">canProcessAsyncIMU</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">false</span>;}</div> <div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528"> 120</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528">canProcessAsyncIMU</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">false</span>;}</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div> <div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee"> 122</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">getPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pose;}</div> <div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee"> 123</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">getPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pose;}</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c"> 124</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c">isInfoDataFilled</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _fillInfoData;}</div> <div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c"> 125</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c">isInfoDataFilled</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _fillInfoData;}</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785"> 126</a></span> RTABMAP_DEPRECATED <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785">previousVelocityTransform</a>() <span class="keyword">const</span>;</div> <div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785"> 127</a></span> RTABMAP_DEPRECATED <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785">previousVelocityTransform</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e"> 128</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e">getVelocityGuess</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> velocityGuess_;}</div> <div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e"> 129</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e">getVelocityGuess</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> velocityGuess_;}</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393"> 130</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393">previousStamp</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> previousStamp_;}</div> <div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393"> 131</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393">previousStamp</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> previousStamp_;}</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659"> 132</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659">framesProcessed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> framesProcessed_;}</div> <div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659"> 133</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659">framesProcessed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> framesProcessed_;}</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4"> 134</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4">imagesAlreadyRectified</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imagesAlreadyRectified;}</div> <div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4"> 135</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4">imagesAlreadyRectified</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imagesAlreadyRectified;}</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> </div> <div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span><span class="keyword">protected</span>:</div> <div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d"> 138</a></span> <span class="keyword">const</span> std::map&lt;double, Transform&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">imus</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> imus_;}</div> <div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d"> 139</a></span> <span class="keyword">const</span> std::map&lt;double, Transform&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">imus</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> imus_;}</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> </div> <div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b"> 141</a></span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b">Odometry</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters);</div> <div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b"> 142</a></span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b">Odometry</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div> <div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span><span class="keyword">private</span>:</div> <div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> computeTransform(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; guess = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0) = 0;</div> <div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> computeTransform(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; guess = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0) = 0;</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div> <div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">void</span> initKalmanFilter(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity(), <span class="keywordtype">float</span> vx=0.0f, <span class="keywordtype">float</span> vy=0.0f, <span class="keywordtype">float</span> vz=0.0f, <span class="keywordtype">float</span> vroll=0.0f, <span class="keywordtype">float</span> vpitch=0.0f, <span class="keywordtype">float</span> vyaw=0.0f);</div> <div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">void</span> initKalmanFilter(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity(), <span class="keywordtype">float</span> vx=0.0f, <span class="keywordtype">float</span> vy=0.0f, <span class="keywordtype">float</span> vz=0.0f, <span class="keywordtype">float</span> vroll=0.0f, <span class="keywordtype">float</span> vpitch=0.0f, <span class="keywordtype">float</span> vyaw=0.0f);</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">void</span> predictKalmanFilter(<span class="keywordtype">float</span> dt, <span class="keywordtype">float</span> * vx=0, <span class="keywordtype">float</span> * vy=0, <span class="keywordtype">float</span> * vz=0, <span class="keywordtype">float</span> * vroll=0, <span class="keywordtype">float</span> * vpitch=0, <span class="keywordtype">float</span> * vyaw=0);</div> <div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">void</span> predictKalmanFilter(<span class="keywordtype">float</span> dt, <span class="keywordtype">float</span> * vx=0, <span class="keywordtype">float</span> * vy=0, <span class="keywordtype">float</span> * vz=0, <span class="keywordtype">float</span> * vroll=0, <span class="keywordtype">float</span> * vpitch=0, <span class="keywordtype">float</span> * vyaw=0);</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">void</span> updateKalmanFilter(<span class="keywordtype">float</span> &amp; vx, <span class="keywordtype">float</span> &amp; vy, <span class="keywordtype">float</span> &amp; vz, <span class="keywordtype">float</span> &amp; vroll, <span class="keywordtype">float</span> &amp; vpitch, <span class="keywordtype">float</span> &amp; vyaw);</div> <div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">void</span> updateKalmanFilter(<span class="keywordtype">float</span> &amp; vx, <span class="keywordtype">float</span> &amp; vy, <span class="keywordtype">float</span> &amp; vz, <span class="keywordtype">float</span> &amp; vroll, <span class="keywordtype">float</span> &amp; vpitch, <span class="keywordtype">float</span> &amp; vyaw);</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div> <div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> </div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span><span class="keyword">private</span>:</div> <div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">int</span> _resetCountdown;</div> <div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">int</span> _resetCountdown;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">bool</span> _force3DoF;</div> <div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">bool</span> _force3DoF;</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">bool</span> _holonomic;</div> <div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">bool</span> _holonomic;</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">bool</span> guessFromMotion_;</div> <div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">bool</span> guessFromMotion_;</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">float</span> guessSmoothingDelay_;</div> <div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">float</span> guessSmoothingDelay_;</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">int</span> _filteringStrategy;</div> <div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">int</span> _filteringStrategy;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">int</span> _particleSize;</div> <div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">int</span> _particleSize;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">float</span> _particleNoiseT;</div> <div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">float</span> _particleNoiseT;</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">float</span> _particleLambdaT;</div> <div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> _particleLambdaT;</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> _particleNoiseR;</div> <div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">float</span> _particleNoiseR;</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">float</span> _particleLambdaR;</div> <div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">float</span> _particleLambdaR;</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">bool</span> _fillInfoData;</div> <div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">bool</span> _fillInfoData;</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">float</span> _kalmanProcessNoise;</div> <div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">float</span> _kalmanProcessNoise;</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">float</span> _kalmanMeasurementNoise;</div> <div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordtype">float</span> _kalmanMeasurementNoise;</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _imageDecimation;</div> <div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _imageDecimation;</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">bool</span> _alignWithGround;</div> <div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">bool</span> _alignWithGround;</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">bool</span> _publishRAMUsage;</div> <div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">bool</span> _publishRAMUsage;</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">bool</span> _imagesAlreadyRectified;</div> <div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">bool</span> _imagesAlreadyRectified;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">bool</span> _deskewing;</div> <div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keywordtype">bool</span> _deskewing;</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _pose;</div> <div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _pose;</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keywordtype">int</span> _resetCurrentCount;</div> <div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">int</span> _resetCurrentCount;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">double</span> previousStamp_;</div> <div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">double</span> previousStamp_;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> std::list&lt;std::pair&lt;std::vector&lt;float&gt;, <span class="keywordtype">double</span>&gt; &gt; previousVelocities_;</div> <div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> std::list&lt;std::pair&lt;std::vector&lt;float&gt;, <span class="keywordtype">double</span>&gt; &gt; previousVelocities_;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> velocityGuess_;</div> <div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> velocityGuess_;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> imuLastTransform_;</div> <div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> imuLastTransform_;</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> previousGroundTruthPose_;</div> <div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> previousGroundTruthPose_;</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keywordtype">float</span> distanceTravelled_;</div> <div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="keywordtype">float</span> distanceTravelled_;</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> framesProcessed_;</div> <div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> framesProcessed_;</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> </div> <div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> </div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> std::vector&lt;ParticleFilter *&gt; particleFilters_;</div> <div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> std::vector&lt;ParticleFilter *&gt; particleFilters_;</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> cv::KalmanFilter kalmanFilter_;</div> <div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> cv::KalmanFilter kalmanFilter_;</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> std::vector&lt;StereoCameraModel&gt; stereoModels_;</div> <div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> std::vector&lt;StereoCameraModel&gt; stereoModels_;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> std::vector&lt;CameraModel&gt; models_;</div> <div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> std::vector&lt;CameraModel&gt; models_;</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> std::map&lt;double, Transform&gt; imus_;</div> <div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> std::map&lt;double, Transform&gt; imus_;</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span>};</div> <div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <a class="code hl_class" href="classrtabmap_1_1ImuMotionPredictor.html">ImuMotionPredictor</a> imuMotionPredictor_; <span class="comment">// fed when IMU is received (motion guess and deskewing)</span></div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span>};</div>
</div> </div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div> <div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> </div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span>} <span class="comment">/* namespace rtabmap */</span></div> <div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRY_H_ */</span><span class="preprocessor"></span></div> <div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRY_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></div><div class="ttdoc">Predicts the pose of the base frame from the last odometry pose and the IMU.</div><div class="ttdef"><b>Definition</b> <a href="ImuMotionPredictor_8h_source.html#l00077">ImuMotionPredictor.h:78</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div> <div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a0c2d39ed9b76c2c411a9e62e16e3bce1"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">rtabmap::Odometry::process</a></div><div class="ttdeci">Transform process(SensorData &amp;data, OdometryInfo *info=0)</div><div class="ttdoc">Processes a sensor frame and updates the integrated pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a0c2d39ed9b76c2c411a9e62e16e3bce1"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">rtabmap::Odometry::process</a></div><div class="ttdeci">Transform process(SensorData &amp;data, OdometryInfo *info=0)</div><div class="ttdoc">Processes a sensor frame and updates the integrated pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a0ea20c39ae597a21e896b706662bb31c"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">rtabmap::Odometry::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a0ea20c39ae597a21e896b706662bb31c"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">rtabmap::Odometry::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a1240aaf3a92a75b4c3c9ded9117144bb"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">rtabmap::Odometry::create</a></div><div class="ttdeci">static Odometry * create(Type &amp;type, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Creates an odometry instance of a given type.</div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a1240aaf3a92a75b4c3c9ded9117144bb"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">rtabmap::Odometry::create</a></div><div class="ttdeci">static Odometry * create(Type &amp;type, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Creates an odometry instance of a given type.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a3276da70261724ceb03df8e410844a8c"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c">rtabmap::Odometry::isInfoDataFilled</a></div><div class="ttdeci">bool isInfoDataFilled() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00124">Odometry.h:124</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a3276da70261724ceb03df8e410844a8c"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c">rtabmap::Odometry::isInfoDataFilled</a></div><div class="ttdeci">bool isInfoDataFilled() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00125">Odometry.h:125</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a35d69a27271b798da6640295a98b9785"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785">rtabmap::Odometry::previousVelocityTransform</a></div><div class="ttdeci">RTABMAP_DEPRECATED const Transform &amp; previousVelocityTransform() const</div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a35d69a27271b798da6640295a98b9785"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785">rtabmap::Odometry::previousVelocityTransform</a></div><div class="ttdeci">RTABMAP_DEPRECATED const Transform &amp; previousVelocityTransform() const</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a36aa5447b7791c88a2799c99923be393"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393">rtabmap::Odometry::previousStamp</a></div><div class="ttdeci">double previousStamp() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00130">Odometry.h:130</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a36aa5447b7791c88a2799c99923be393"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393">rtabmap::Odometry::previousStamp</a></div><div class="ttdeci">double previousStamp() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00131">Odometry.h:131</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a4fcbe67de2ec6f23829e3962ee586315"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315">rtabmap::Odometry::process</a></div><div class="ttdeci">Transform process(SensorData &amp;data, const Transform &amp;guess, OdometryInfo *info=0)</div><div class="ttdoc">Processes a sensor frame with an external motion guess.</div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a4fcbe67de2ec6f23829e3962ee586315"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315">rtabmap::Odometry::process</a></div><div class="ttdeci">Transform process(SensorData &amp;data, const Transform &amp;guess, OdometryInfo *info=0)</div><div class="ttdoc">Processes a sensor frame with an external motion guess.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a69809beb553e6d4cd4a950ce251449e0"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0">rtabmap::Odometry::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00117">Odometry.h:117</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a69809beb553e6d4cd4a950ce251449e0"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0">rtabmap::Odometry::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00118">Odometry.h:118</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6c9ed388da42499d2244bb98c8ff0e8d"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">rtabmap::Odometry::imus</a></div><div class="ttdeci">const std::map&lt; double, Transform &gt; &amp; imus() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00138">Odometry.h:138</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6c9ed388da42499d2244bb98c8ff0e8d"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">rtabmap::Odometry::imus</a></div><div class="ttdeci">const std::map&lt; double, Transform &gt; &amp; imus() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00139">Odometry.h:139</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a7476b9fffee225ef396804ef59084659"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659">rtabmap::Odometry::framesProcessed</a></div><div class="ttdeci">unsigned int framesProcessed() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00132">Odometry.h:132</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a7476b9fffee225ef396804ef59084659"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659">rtabmap::Odometry::framesProcessed</a></div><div class="ttdeci">unsigned int framesProcessed() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00133">Odometry.h:133</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a7a1c1e4598528a4e94f510b5dabac528"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528">rtabmap::Odometry::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00119">Odometry.h:119</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a7a1c1e4598528a4e94f510b5dabac528"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528">rtabmap::Odometry::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00120">Odometry.h:120</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a8b45aea55b336f758943b4a6b2ec28ee"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">rtabmap::Odometry::getPose</a></div><div class="ttdeci">const Transform &amp; getPose() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00122">Odometry.h:122</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a8b45aea55b336f758943b4a6b2ec28ee"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">rtabmap::Odometry::getPose</a></div><div class="ttdeci">const Transform &amp; getPose() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00123">Odometry.h:123</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a92685daa2786aff06518c8c4e26b8899"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899">rtabmap::Odometry::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()=0</div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_a92685daa2786aff06518c8c4e26b8899"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899">rtabmap::Odometry::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()=0</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_aa6ab1c129163771b0d87e3e068a0427e"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e">rtabmap::Odometry::getVelocityGuess</a></div><div class="ttdeci">const Transform &amp; getVelocityGuess() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00128">Odometry.h:128</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_aa6ab1c129163771b0d87e3e068a0427e"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e">rtabmap::Odometry::getVelocityGuess</a></div><div class="ttdeci">const Transform &amp; getVelocityGuess() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00129">Odometry.h:129</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_ac8992df0b92a86c10fe8e8da2b5f3627"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">rtabmap::Odometry::create</a></div><div class="ttdeci">static Odometry * create(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Creates an odometry instance from Parameters::kOdomStrategy() in parameters.</div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_ac8992df0b92a86c10fe8e8da2b5f3627"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">rtabmap::Odometry::create</a></div><div class="ttdeci">static Odometry * create(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Creates an odometry instance from Parameters::kOdomStrategy() in parameters.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_ac9ae854d14d44d82e1f20e8a4791b9c4"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4">rtabmap::Odometry::imagesAlreadyRectified</a></div><div class="ttdeci">bool imagesAlreadyRectified() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00134">Odometry.h:134</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_ac9ae854d14d44d82e1f20e8a4791b9c4"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4">rtabmap::Odometry::imagesAlreadyRectified</a></div><div class="ttdeci">bool imagesAlreadyRectified() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00135">Odometry.h:135</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_af2d9cf4c207d6628b0890064a385856b"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b">rtabmap::Odometry::Odometry</a></div><div class="ttdeci">Odometry(const rtabmap::ParametersMap &amp;parameters)</div><div class="ttdoc">Constructs the base odometry state from RTAB-Map parameters.</div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_af2d9cf4c207d6628b0890064a385856b"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b">rtabmap::Odometry::Odometry</a></div><div class="ttdeci">Odometry(const rtabmap::ParametersMap &amp;parameters)</div><div class="ttdoc">Constructs the base odometry state from RTAB-Map parameters.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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="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>
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