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refactoring: terms "current" and "full" changed for "local" and "global" respectively

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1122 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-02-17 22:58:46 +00:00
parent 260493ac8f
commit 5dbf6678ce
7 changed files with 118 additions and 118 deletions
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corelib/src/Rtabmap.cpp
+10 -10
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@@ -564,7 +564,7 @@ void Rtabmap::triggerNewMap()
}
}
void Rtabmap::generateGraph(const std::string & path, int id, int margin)
void Rtabmap::generateDOTGraph(const std::string & path, int id, int margin)
{
if(_memory)
{
@@ -596,7 +596,7 @@ void Rtabmap::generateGraph(const std::string & path, int id, int margin)
}
}
void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool full)
void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool global)
{
if(_memory && _memory->getLastWorkingSignature())
{
@@ -605,12 +605,12 @@ void Rtabmap::generateTOROGraph(const std::string & path, bool optimized, bool f
if(optimized)
{
this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), full, poses, &constraints);
this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), global, poses, &constraints);
}
else
{
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, full?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, full);
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, global?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, global);
}
util3d::saveTOROGraph(path, poses, constraints);
@@ -2110,23 +2110,23 @@ void Rtabmap::get3DMap(std::map<int, std::vector<unsigned char> > & images,
std::map<int, Transform> & poses,
std::multimap<int, Link> & constraints,
bool optimized,
bool full) const
bool global) const
{
if(_memory && _memory->getLastWorkingSignature())
{
if(optimized)
{
this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), full, poses, &constraints);
this->optimizeCurrentMap(_memory->getLastWorkingSignature()->id(), global, poses, &constraints);
}
else
{
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, full?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, full);
std::map<int, int> ids = _memory->getNeighborsId(_memory->getLastWorkingSignature()->id(), 0, global?-1:0, true);
_memory->getMetricConstraints(uKeys(ids), poses, constraints, global);
}
std::set<int> ids = _memory->getWorkingMem(); // STM + WM
ids.insert(_memory->getStMem().begin(), _memory->getStMem().end());
if(full)
if(global)
{
ids = _memory->getAllSignatureIds(); // STM + WM + LTM
}