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Updated local loop closure detection in space and path planning for Localization mode.

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Mathieu Labbe
2015-05-06 00:29:54 -04:00
parent 679d9deca0
commit 4927b56939
6 changed files with 164 additions and 40 deletions
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3
corelib/include/rtabmap/core/Rtabmap.h
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@@ -155,7 +155,7 @@ private:
bool lookInDatabase,
std::multimap<int, Link> * constraints = 0) const;
void updateGoalIndex();
bool computePath(int targetNode, const std::map<int, Transform> & nodes, const std::multimap<int, rtabmap::Link> & constraints);
bool computePath(int targetNode, std::map<int, Transform> nodes, const std::multimap<int, rtabmap::Link> & constraints);
void setupLogFiles(bool overwrite = false);
void flushStatisticLogs();
@@ -226,6 +226,7 @@ private:
std::multimap<int, Link> _constraints;
Transform _mapCorrection;
Transform _mapTransform; // for localization mode
Transform _lastLocalizationPose; // for localization mode
// Planning stuff
std::vector<std::pair<int,Transform> > _path;