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Optimizer: fixed some constraints between same nodes with different type ignored. GraphViewer: fixed display of links between same nodes with different type

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matlabbe
2023-11-12 17:14:17 -08:00
parent 56552afa6c
commit 4812ce4eaf
4 changed files with 90 additions and 11 deletions
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12
corelib/include/rtabmap/core/Graph.h
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@@ -136,6 +136,12 @@ std::multimap<int, Link>::iterator RTABMAP_CORE_EXPORT findLink(
int to,
bool checkBothWays = true,
Link::Type type = Link::kUndef);
std::multimap<int, std::pair<int, Link::Type> >::iterator RTABMAP_CORE_EXPORT findLink(
std::multimap<int, std::pair<int, Link::Type> > & links,
int from,
int to,
bool checkBothWays = true,
Link::Type type = Link::kUndef);
std::multimap<int, int>::iterator RTABMAP_CORE_EXPORT findLink(
std::multimap<int, int> & links,
int from,
@@ -147,6 +153,12 @@ std::multimap<int, Link>::const_iterator RTABMAP_CORE_EXPORT findLink(
int to,
bool checkBothWays = true,
Link::Type type = Link::kUndef);
std::multimap<int, std::pair<int, Link::Type> >::const_iterator RTABMAP_CORE_EXPORT findLink(
const std::multimap<int, std::pair<int, Link::Type> > & links,
int from,
int to,
bool checkBothWays = true,
Link::Type type = Link::kUndef);
std::multimap<int, int>::const_iterator RTABMAP_CORE_EXPORT findLink(
const std::multimap<int, int> & links,
int from,