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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738
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@@ -10,6 +10,10 @@
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<link href="tabs.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="jquery.js"></script>
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<script type="text/javascript" src="dynsections.js"></script>
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<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="resize.js"></script>
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<script type="text/javascript" src="navtreedata.js"></script>
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<script type="text/javascript" src="navtree.js"></script>
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<link href="search/search.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="search/searchdata.js"></script>
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<script type="text/javascript" src="search/search.js"></script>
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@@ -27,6 +31,7 @@
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<td id="projectalign">
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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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</div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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</td>
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</tr>
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</tbody>
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@@ -55,6 +60,23 @@ $(function() {
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$(document).ready(function() { init_codefold(0); });
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/* @license-end */
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</script>
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</div><!-- top -->
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<div id="side-nav" class="ui-resizable side-nav-resizable">
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<div id="nav-tree">
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<div id="nav-tree-contents">
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<div id="nav-sync" class="sync"></div>
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</div>
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</div>
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<div id="splitbar" style="-moz-user-select:none;"
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class="ui-resizable-handle">
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</div>
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</div>
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<script type="text/javascript">
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
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$(document).ready(function(){initNavTree('Graph_8h_source.html',''); initResizable(); });
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/* @license-end */
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</script>
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<div id="doc-content">
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<!-- window showing the filter options -->
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<div id="MSearchSelectWindow"
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onmouseover="return searchBox.OnSearchSelectShow()"
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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</div>
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</div>
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<div id="nav-path" class="navpath">
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<ul>
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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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</div>
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</div><!-- top -->
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<div class="header">
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<div class="headertitle"><div class="title">Graph.h</div></div>
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</div><!--header-->
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@@ -127,41 +144,41 @@ $(document).ready(function() { init_codefold(0); });
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<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>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">class </span>Memory;</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacegraph.html">graph</a> {</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="keyword">namespace </span>graph {</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT exportPoses(</div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#af5622dec3112ea0b5154056bde132d46"> 80</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#af5622dec3112ea0b5154056bde132d46">exportPoses</a>(</div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">const</span> std::string & filePath,</div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordtype">int</span> format,</div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="keyword">const</span> std::multimap<int, Link> & constraints = std::multimap<int, Link>(),</div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="keyword">const</span> std::map<int, double> & stamps = std::map<int, double>(),</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keyword">const</span> ParametersMap & parameters = ParametersMap());</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT importPoses(</div>
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a5c0eb890db7dba1c353d57595ccbdc6e"> 110</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5c0eb890db7dba1c353d57595ccbdc6e">importPoses</a>(</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keyword">const</span> std::string & filePath,</div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">int</span> format,</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> std::multimap<int, Link> * constraints = 0,</div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> std::map<int, double> * stamps = 0);</div>
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<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT exportGPS(</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2"> 123</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2">exportGPS</a>(</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keyword">const</span> std::string & filePath,</div>
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<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keyword">const</span> std::map<int, GPS> & gpsValues,</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rgba = 0xFFFFFFFF);</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
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<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT calcKittiSequenceErrors(</div>
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<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a3c9effdb0d7c235dc1b8d7e3f8487c67"> 144</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3c9effdb0d7c235dc1b8d7e3f8487c67">calcKittiSequenceErrors</a>(</div>
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<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">const</span> std::vector<Transform> &poses_gt,</div>
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<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keyword">const</span> std::vector<Transform> &poses_result,</div>
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<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordtype">float</span> & t_err,</div>
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<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keywordtype">float</span> & r_err);</div>
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<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> </div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT calcRelativeErrors (</div>
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<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215"> 167</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215">calcRelativeErrors</a> (</div>
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<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keyword">const</span> std::vector<Transform> &poses_gt,</div>
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<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keyword">const</span> std::vector<Transform> &poses_result,</div>
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<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">float</span> & t_err,</div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">float</span> & r_err);</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span>Transform RTABMAP_CORE_EXPORT calcRMSE(</div>
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<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a5c36e32a4acd10ac3cdbbf7d73591f88"> 208</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5c36e32a4acd10ac3cdbbf7d73591f88">calcRMSE</a>(</div>
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keyword">const</span> std::map<int, Transform> &groundTruth,</div>
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<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keyword">const</span> std::map<int, Transform> &poses,</div>
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">float</span> & translational_rmse,</div>
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@@ -190,174 +207,200 @@ $(document).ready(function() { init_codefold(0); });
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<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span>};</div>
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</div>
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<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
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<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span><a class="code hl_struct" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html">MaxGraphErrors</a> RTABMAP_CORE_EXPORT computeMaxGraphErrors(</div>
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<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a4691b760dfafe6d93de514c96fa55e0e"> 265</a></span><a class="code hl_struct" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html">MaxGraphErrors</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a4691b760dfafe6d93de514c96fa55e0e">computeMaxGraphErrors</a>(</div>
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<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
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<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
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<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordtype">bool</span> for3DoF = <span class="keyword">false</span>);</div>
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<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> </div>
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<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span>std::vector<double> RTABMAP_CORE_EXPORT getMaxOdomInf(<span class="keyword">const</span> std::multimap<int, Link> & links);</div>
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<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b"> 280</a></span>std::vector<double> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b">getMaxOdomInf</a>(<span class="keyword">const</span> std::multimap<int, Link> & links);</div>
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<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> </div>
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<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span>std::multimap<int, Link>::iterator RTABMAP_CORE_EXPORT findLink(</div>
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<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec"> 296</a></span>std::multimap<int, Link>::iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
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<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> std::multimap<int, Link> & links,</div>
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<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> <span class="keywordtype">int</span> from,</div>
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<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="keywordtype">int</span> to,</div>
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<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
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<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span>std::multimap<int, std::pair<int, Link::Type> >::iterator RTABMAP_CORE_EXPORT findLink(</div>
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<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> std::multimap<<span class="keywordtype">int</span>, std::pair<int, Link::Type> > & links,</div>
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<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keywordtype">int</span> from,</div>
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<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keywordtype">int</span> to,</div>
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<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
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<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span>std::multimap<int, int>::iterator RTABMAP_CORE_EXPORT findLink(</div>
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<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> std::multimap<int, int> & links,</div>
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<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keywordtype">int</span> from,</div>
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<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keywordtype">int</span> to,</div>
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<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span>std::multimap<int, Link>::const_iterator RTABMAP_CORE_EXPORT findLink(</div>
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<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
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<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <span class="keywordtype">int</span> from,</div>
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<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="keywordtype">int</span> to,</div>
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<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
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<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span>std::multimap<int, std::pair<int, Link::Type> >::const_iterator RTABMAP_CORE_EXPORT findLink(</div>
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<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keyword">const</span> std::multimap<<span class="keywordtype">int</span>, std::pair<int, Link::Type> > & links,</div>
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<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keywordtype">int</span> from,</div>
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<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keywordtype">int</span> to,</div>
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<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
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<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
|
||||
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span>std::multimap<int, int>::const_iterator RTABMAP_CORE_EXPORT findLink(</div>
|
||||
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keyword">const</span> std::multimap<int, int> & links,</div>
|
||||
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordtype">int</span> from,</div>
|
||||
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordtype">int</span> to,</div>
|
||||
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> </div>
|
||||
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span>std::list<Link> RTABMAP_CORE_EXPORT findLinks(</div>
|
||||
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
|
||||
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keywordtype">int</span> from);</div>
|
||||
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
|
||||
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span>std::multimap<int, Link> RTABMAP_CORE_EXPORT filterDuplicateLinks(</div>
|
||||
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <span class="keyword">const</span> std::multimap<int, Link> & links);</div>
|
||||
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> </div>
|
||||
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span>std::multimap<int, Link> RTABMAP_CORE_EXPORT filterLinks(</div>
|
||||
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
|
||||
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> filteredType,</div>
|
||||
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keywordtype">bool</span> inverted = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span>std::map<int, Link> RTABMAP_CORE_EXPORT filterLinks(</div>
|
||||
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keyword">const</span> std::map<int, Link> & links,</div>
|
||||
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">Link::kUndef</a>);</div>
|
||||
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#ad91079c9cdd934c8ba8927d3c52b40e5"> 304</a></span>std::multimap<int, std::pair<int, Link::Type> >::iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
|
||||
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> std::multimap<<span class="keywordtype">int</span>, std::pair<int, Link::Type> > & links,</div>
|
||||
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keywordtype">int</span> from,</div>
|
||||
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">int</span> to,</div>
|
||||
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">Link::kUndef</a>);</div>
|
||||
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a06ed3112247c13dcf494665c1d9df327"> 312</a></span>std::multimap<int, int>::iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
|
||||
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> std::multimap<int, int> & links,</div>
|
||||
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordtype">int</span> from,</div>
|
||||
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keywordtype">int</span> to,</div>
|
||||
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a7695c60c6bb375057586449674d42eea"> 319</a></span>std::multimap<int, Link>::const_iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
|
||||
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
|
||||
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="keywordtype">int</span> from,</div>
|
||||
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="keywordtype">int</span> to,</div>
|
||||
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">Link::kUndef</a>);</div>
|
||||
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a8200ae3a6bd27ee2cee4b71d85ace3e9"> 327</a></span>std::multimap<int, std::pair<int, Link::Type> >::const_iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
|
||||
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="keyword">const</span> std::multimap<<span class="keywordtype">int</span>, std::pair<int, Link::Type> > & links,</div>
|
||||
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keywordtype">int</span> from,</div>
|
||||
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keywordtype">int</span> to,</div>
|
||||
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">Link::kUndef</a>);</div>
|
||||
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#aecdcc01682092f4c89257d070aa2a437"> 335</a></span>std::multimap<int, int>::const_iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
|
||||
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keyword">const</span> std::multimap<int, int> & links,</div>
|
||||
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keywordtype">int</span> from,</div>
|
||||
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keywordtype">int</span> to,</div>
|
||||
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> </div>
|
||||
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a308c9331cd3dd36a776517e64b33bd82"> 352</a></span>std::list<Link> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a308c9331cd3dd36a776517e64b33bd82">findLinks</a>(</div>
|
||||
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
|
||||
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keywordtype">int</span> from);</div>
|
||||
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> </div>
|
||||
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a5d11e3cccfeca97d570c528858863dd2"> 365</a></span>std::multimap<int, Link> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5d11e3cccfeca97d570c528858863dd2">filterDuplicateLinks</a>(</div>
|
||||
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <span class="keyword">const</span> std::multimap<int, Link> & links);</div>
|
||||
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> </div>
|
||||
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300"> 380</a></span>std::multimap<int, Link> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300">filterLinks</a>(</div>
|
||||
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
|
||||
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> filteredType,</div>
|
||||
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keywordtype">bool</span> inverted = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> </div>
|
||||
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span>std::map<int, Transform> RTABMAP_CORE_EXPORT frustumPosesFiltering(</div>
|
||||
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & cameraPose,</div>
|
||||
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keywordtype">float</span> horizontalFOV = 45.0f,</div>
|
||||
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> <span class="keywordtype">float</span> verticalFOV = 45.0f,</div>
|
||||
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="keywordtype">float</span> nearClipPlaneDistance = 0.1f,</div>
|
||||
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> <span class="keywordtype">float</span> farClipPlaneDistance = 100.0f,</div>
|
||||
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keywordtype">bool</span> negative = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> </div>
|
||||
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span>std::map<int, Transform> RTABMAP_CORE_EXPORT radiusPosesFiltering(</div>
|
||||
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="keywordtype">float</span> angle,</div>
|
||||
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keywordtype">bool</span> keepLatest = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> </div>
|
||||
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span>std::multimap<int, int> RTABMAP_CORE_EXPORT radiusPosesClustering(</div>
|
||||
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordtype">float</span> angle);</div>
|
||||
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> </div>
|
||||
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span><span class="keywordtype">void</span> reduceGraph(</div>
|
||||
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
|
||||
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> std::multimap<int, int> & hyperNodes,</div>
|
||||
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> std::multimap<int, Link> & hyperLinks);</div>
|
||||
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> </div>
|
||||
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span>std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(</div>
|
||||
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keyword">const</span> std::map<int, rtabmap::Transform> & poses,</div>
|
||||
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> <span class="keyword">const</span> std::multimap<int, int> & links,</div>
|
||||
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keywordtype">int</span> from,</div>
|
||||
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> <span class="keywordtype">int</span> to,</div>
|
||||
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
|
||||
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span>std::list<int> RTABMAP_CORE_EXPORT computePath(</div>
|
||||
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
|
||||
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> <span class="keywordtype">int</span> from,</div>
|
||||
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> <span class="keywordtype">int</span> to,</div>
|
||||
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> <span class="keywordtype">bool</span> useSameCostForAllLinks = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> </div>
|
||||
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span>std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(</div>
|
||||
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <span class="keywordtype">int</span> fromId,</div>
|
||||
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <span class="keywordtype">int</span> toId,</div>
|
||||
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory,</div>
|
||||
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> <span class="keywordtype">float</span> linearVelocity = 0.0f,</div>
|
||||
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keywordtype">float</span> angularVelocity = 0.0f,</div>
|
||||
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> <span class="keywordtype">bool</span> ignoreDirectLinks = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> </div>
|
||||
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT findNearestNode(</div>
|
||||
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> <span class="keyword">const</span> std::map<int, rtabmap::Transform> & poses,</div>
|
||||
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & targetPose,</div>
|
||||
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> <span class="keywordtype">float</span> * distance = 0);</div>
|
||||
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> </div>
|
||||
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span>std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(</div>
|
||||
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
|
||||
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> <span class="keywordtype">int</span> k=0);</div>
|
||||
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span>std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(</div>
|
||||
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & targetPose,</div>
|
||||
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
|
||||
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> <span class="keywordtype">int</span> k=0);</div>
|
||||
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span>std::map<int, Transform> RTABMAP_CORE_EXPORT findNearestPoses(</div>
|
||||
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
|
||||
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keywordtype">int</span> k=0);</div>
|
||||
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span>std::map<int, Transform> RTABMAP_CORE_EXPORT findNearestPoses(</div>
|
||||
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & targetPose,</div>
|
||||
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
|
||||
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span> <span class="keywordtype">int</span> k=0);</div>
|
||||
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> </div>
|
||||
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span>RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(<span class="keyword">const</span> std::map<int, rtabmap::Transform> & nodes, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & targetPose, <span class="keywordtype">int</span> k);</div>
|
||||
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span>RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT getNodesInRadius(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map<int, Transform> & nodes, <span class="keywordtype">float</span> radius);</div>
|
||||
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span>RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT getNodesInRadius(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & targetPose, <span class="keyword">const</span> std::map<int, Transform> & nodes, <span class="keywordtype">float</span> radius);</div>
|
||||
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span>RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map<int, Transform> & nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
|
||||
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span>RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & targetPose, <span class="keyword">const</span> std::map<int, Transform> & nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
|
||||
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> </div>
|
||||
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT computePathLength(</div>
|
||||
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> <span class="keyword">const</span> std::vector<std::pair<int, Transform> > & path);</div>
|
||||
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> </div>
|
||||
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT computePathLength(</div>
|
||||
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span> <span class="keyword">const</span> std::map<int, Transform> & path);</div>
|
||||
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> </div>
|
||||
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span>std::list<std::map<int, Transform> > RTABMAP_CORE_EXPORT getPaths(</div>
|
||||
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> std::map<int, Transform> poses,</div>
|
||||
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="keyword">const</span> std::multimap<int, Link> & links);</div>
|
||||
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> </div>
|
||||
<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"> 674</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT computeMinMax(<span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"> 675</span> cv::Vec3f & min,</div>
|
||||
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> cv::Vec3f & max);</div>
|
||||
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> </div>
|
||||
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"> 678</span>} <span class="comment">/* namespace graph */</span></div>
|
||||
<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> </div>
|
||||
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"> 680</span>} <span class="comment">/* namespace rtabmap */</span></div>
|
||||
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"> 681</span><span class="preprocessor">#endif </span><span class="comment">/* GRAPH_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#af4dffb2a3eced519378d18bca8fa4419"> 386</a></span>std::map<int, Link> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300">filterLinks</a>(</div>
|
||||
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keyword">const</span> std::map<int, Link> & links,</div>
|
||||
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> filteredType,</div>
|
||||
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keywordtype">bool</span> inverted = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> </div>
|
||||
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de"> 406</a></span>std::map<int, Transform> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de">frustumPosesFiltering</a>(</div>
|
||||
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & cameraPose,</div>
|
||||
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> <span class="keywordtype">float</span> horizontalFOV = 45.0f,</div>
|
||||
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="keywordtype">float</span> verticalFOV = 45.0f,</div>
|
||||
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> <span class="keywordtype">float</span> nearClipPlaneDistance = 0.1f,</div>
|
||||
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> <span class="keywordtype">float</span> farClipPlaneDistance = 100.0f,</div>
|
||||
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="keywordtype">bool</span> negative = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> </div>
|
||||
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a1906b8b4ad4b7ffc955d22c4996b1506"> 429</a></span>std::map<int, Transform> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a1906b8b4ad4b7ffc955d22c4996b1506">radiusPosesFiltering</a>(</div>
|
||||
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <span class="keywordtype">float</span> angle,</div>
|
||||
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="keywordtype">bool</span> keepLatest = <span class="keyword">true</span>);</div>
|
||||
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> </div>
|
||||
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#acaf3e4ffcfc830747c3c3cb02a8ea155"> 446</a></span>std::multimap<int, int> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#acaf3e4ffcfc830747c3c3cb02a8ea155">radiusPosesClustering</a>(</div>
|
||||
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <span class="keywordtype">float</span> angle);</div>
|
||||
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> </div>
|
||||
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#aabda884597e6b8df053d04ee56cfaf6f"> 467</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacertabmap_1_1graph.html#aabda884597e6b8df053d04ee56cfaf6f">reduceGraph</a>(</div>
|
||||
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
|
||||
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> std::multimap<int, int> & hyperNodes,</div>
|
||||
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> std::multimap<int, Link> & hyperLinks);</div>
|
||||
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> </div>
|
||||
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea"> 486</a></span>std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath</a>(</div>
|
||||
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> <span class="keyword">const</span> std::map<int, rtabmap::Transform> & poses,</div>
|
||||
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> <span class="keyword">const</span> std::multimap<int, int> & links,</div>
|
||||
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <span class="keywordtype">int</span> from,</div>
|
||||
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> <span class="keywordtype">int</span> to,</div>
|
||||
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> </div>
|
||||
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#ae21d02d613df461d6163f9d9a3db7ad2"> 506</a></span>std::list<int> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath</a>(</div>
|
||||
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> <span class="keyword">const</span> std::multimap<int, Link> & links,</div>
|
||||
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> <span class="keywordtype">int</span> from,</div>
|
||||
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> <span class="keywordtype">int</span> to,</div>
|
||||
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> <span class="keywordtype">bool</span> useSameCostForAllLinks = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> </div>
|
||||
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a1ec6b9506985624f31fb2091219cb142"> 545</a></span>std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath</a>(</div>
|
||||
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keywordtype">int</span> fromId,</div>
|
||||
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> <span class="keywordtype">int</span> toId,</div>
|
||||
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory,</div>
|
||||
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">true</span>,</div>
|
||||
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
|
||||
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> <span class="keywordtype">float</span> linearVelocity = 0.0f,</div>
|
||||
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> <span class="keywordtype">float</span> angularVelocity = 0.0f,</div>
|
||||
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> <span class="keywordtype">bool</span> ignoreDirectLinks = <span class="keyword">false</span>);</div>
|
||||
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> </div>
|
||||
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c"> 565</a></span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c">findNearestNode</a>(</div>
|
||||
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> <span class="keyword">const</span> std::map<int, rtabmap::Transform> & poses,</div>
|
||||
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & targetPose,</div>
|
||||
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> <span class="keywordtype">float</span> * distance = 0);</div>
|
||||
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> </div>
|
||||
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157"> 584</a></span>std::map<int, float> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(</div>
|
||||
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
|
||||
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> <span class="keywordtype">int</span> k=0);</div>
|
||||
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a70a5f4b17aa3bb54cad151c9f290ff7f"> 599</a></span>std::map<int, float> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(</div>
|
||||
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & targetPose,</div>
|
||||
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
|
||||
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">int</span> k=0);</div>
|
||||
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf"> 609</a></span>std::map<int, Transform> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">findNearestPoses</a>(</div>
|
||||
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> <span class="keywordtype">int</span> nodeId,</div>
|
||||
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
|
||||
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> <span class="keywordtype">int</span> k=0);</div>
|
||||
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a236de727a38e51699fe73ff61b459d95"> 617</a></span>std::map<int, Transform> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">findNearestPoses</a>(</div>
|
||||
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & targetPose,</div>
|
||||
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"> 619</span> <span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span> <span class="keywordtype">float</span> radius,</div>
|
||||
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
|
||||
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> <span class="keywordtype">int</span> k=0);</div>
|
||||
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> </div>
|
||||
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a52dbbfb5099e97699f2ead9139891a5f"> 625</a></span>RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(<span class="keyword">const</span> std::map<int, rtabmap::Transform> & nodes, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> & targetPose, <span class="keywordtype">int</span> k);</div>
|
||||
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e"> 627</a></span>RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e">getNodesInRadius</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map<int, Transform> & nodes, <span class="keywordtype">float</span> radius);</div>
|
||||
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a4f7f712868babb4cc74f7fe2cc366620"> 629</a></span>RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e">getNodesInRadius</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & targetPose, <span class="keyword">const</span> std::map<int, Transform> & nodes, <span class="keywordtype">float</span> radius);</div>
|
||||
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043"> 631</a></span>RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043">getPosesInRadius</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map<int, Transform> & nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
|
||||
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a0851e81af5d331032ec790a10bb4302f"> 633</a></span>RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043">getPosesInRadius</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & targetPose, <span class="keyword">const</span> std::map<int, Transform> & nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
|
||||
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> </div>
|
||||
<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39"> 643</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">computePathLength</a>(</div>
|
||||
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> <span class="keyword">const</span> std::vector<std::pair<int, Transform> > & path);</div>
|
||||
<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> </div>
|
||||
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a14376d7f2365ab41e5c361876c999277"> 655</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">computePathLength</a>(</div>
|
||||
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> <span class="keyword">const</span> std::map<int, Transform> & path);</div>
|
||||
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> </div>
|
||||
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094"> 670</a></span>std::list<std::map<int, Transform> > RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094">getPaths</a>(</div>
|
||||
<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> std::map<int, Transform> poses,</div>
|
||||
<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"> 672</span> <span class="keyword">const</span> std::multimap<int, Link> & links);</div>
|
||||
<div class="line"><a id="l00673" name="l00673"></a><span class="lineno"> 673</span> </div>
|
||||
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410"> 681</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410">computeMinMax</a>(<span class="keyword">const</span> std::map<int, Transform> & poses,</div>
|
||||
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span> cv::Vec3f & min,</div>
|
||||
<div class="line"><a id="l00683" name="l00683"></a><span class="lineno"> 683</span> cv::Vec3f & max);</div>
|
||||
<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"> 684</span> </div>
|
||||
<div class="line"><a id="l00685" name="l00685"></a><span class="lineno"> 685</span>} <span class="comment">/* namespace graph */</span></div>
|
||||
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno"> 686</span> </div>
|
||||
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"> 687</span>} <span class="comment">/* namespace rtabmap */</span></div>
|
||||
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno"> 688</span><span class="preprocessor">#endif </span><span class="comment">/* GRAPH_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Link category and filter sentinels.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00064">Link.h:64</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">rtabmap::Link::kUndef</a></div><div class="ttdeci">@ kUndef</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00080">Link.h:79</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Memory_html"><div class="ttname"><a href="classrtabmap_1_1Memory.html">rtabmap::Memory</a></div><div class="ttdoc">Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00101">Memory.h:102</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="anamespacegraph_html"><div class="ttname"><a href="namespacegraph.html">graph</a></div><div class="ttdoc">Pose-graph I/O, trajectory metrics, link utilities, and path planning.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a0a04ab5289c258725555d6c18a076094"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094">rtabmap::graph::getPaths</a></div><div class="ttdeci">std::list< std::map< int, Transform > > RTABMAP_CORE_EXPORT getPaths(std::map< int, Transform > poses, const std::multimap< int, Link > &links)</div><div class="ttdoc">Splits poses into chains connected only by neighbor links.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a1906b8b4ad4b7ffc955d22c4996b1506"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a1906b8b4ad4b7ffc955d22c4996b1506">rtabmap::graph::radiusPosesFiltering</a></div><div class="ttdeci">std::map< int, Transform > RTABMAP_CORE_EXPORT radiusPosesFiltering(const std::map< int, Transform > &poses, float radius, float angle, bool keepLatest=true)</div><div class="ttdoc">Subsamples poses that are spatially (and optionally angularly) redundant.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a308c9331cd3dd36a776517e64b33bd82"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a308c9331cd3dd36a776517e64b33bd82">rtabmap::graph::findLinks</a></div><div class="ttdeci">std::list< Link > RTABMAP_CORE_EXPORT findLinks(const std::multimap< int, Link > &links, int from)</div><div class="ttdoc">Lists all links incident on node from.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a39f8c9011cb5b7652003df9275c88410"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410">rtabmap::graph::computeMinMax</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT computeMinMax(const std::map< int, Transform > &poses, cv::Vec3f &min, cv::Vec3f &max)</div><div class="ttdoc">Axis-aligned bounding box of pose positions.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a3c9effdb0d7c235dc1b8d7e3f8487c67"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a3c9effdb0d7c235dc1b8d7e3f8487c67">rtabmap::graph::calcKittiSequenceErrors</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT calcKittiSequenceErrors(const std::vector< Transform > &poses_gt, const std::vector< Transform > &poses_result, float &t_err, float &r_err)</div><div class="ttdoc">KITTI odometry benchmark error over fixed trajectory segments.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a3cd2009752bc8e39ec00f7f08cfd4a39"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">rtabmap::graph::computePathLength</a></div><div class="ttdeci">float RTABMAP_CORE_EXPORT computePathLength(const std::vector< std::pair< int, Transform > > &path)</div><div class="ttdoc">Path length along an ordered list of poses.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a3d6e74a018b07cd52151e3e168f6384c"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c">rtabmap::graph::findNearestNode</a></div><div class="ttdeci">int RTABMAP_CORE_EXPORT findNearestNode(const std::map< int, rtabmap::Transform > &poses, const rtabmap::Transform &targetPose, float *distance=0)</div><div class="ttdoc">Id of the nearest pose to targetPose.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a4691b760dfafe6d93de514c96fa55e0e"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a4691b760dfafe6d93de514c96fa55e0e">rtabmap::graph::computeMaxGraphErrors</a></div><div class="ttdeci">MaxGraphErrors RTABMAP_CORE_EXPORT computeMaxGraphErrors(const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, bool for3DoF=false)</div><div class="ttdoc">Finds the worst pose-graph constraint residuals after optimization.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a592918d54b32d6f13236de85958da300"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300">rtabmap::graph::filterLinks</a></div><div class="ttdeci">std::multimap< int, Link > RTABMAP_CORE_EXPORT filterLinks(const std::multimap< int, Link > &links, Link::Type filteredType, bool inverted=false)</div><div class="ttdoc">Filters links by type or self-reference.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a5c0eb890db7dba1c353d57595ccbdc6e"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a5c0eb890db7dba1c353d57595ccbdc6e">rtabmap::graph::importPoses</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT importPoses(const std::string &filePath, int format, std::map< int, Transform > &poses, std::multimap< int, Link > *constraints=0, std::map< int, double > *stamps=0)</div><div class="ttdoc">Loads poses (and optional constraints) from disk.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a5c36e32a4acd10ac3cdbbf7d73591f88"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a5c36e32a4acd10ac3cdbbf7d73591f88">rtabmap::graph::calcRMSE</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT calcRMSE(const std::map< int, Transform > &groundTruth, const std::map< int, Transform > &poses, float &translational_rmse, float &translational_mean, float &translational_median, float &translational_std, float &translational_min, float &translational_max, float &rotational_rmse, float &rotational_mean, float &rotational_median, float &rotational_std, float &rotational_min, float &rotational_max, bool align2D=false)</div><div class="ttdoc">Absolute trajectory error (ATE) with Sim(3)-style alignment (TUM RGB-D tool).</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a5d11e3cccfeca97d570c528858863dd2"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a5d11e3cccfeca97d570c528858863dd2">rtabmap::graph::filterDuplicateLinks</a></div><div class="ttdeci">std::multimap< int, Link > RTABMAP_CORE_EXPORT filterDuplicateLinks(const std::multimap< int, Link > &links)</div><div class="ttdoc">Removes duplicate undirected links.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a5ec6c3883f73181d9458c5905c0aa0ea"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">rtabmap::graph::computePath</a></div><div class="ttdeci">std::list< std::pair< int, Transform > > RTABMAP_CORE_EXPORT computePath(const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, int > &links, int from, int to, bool updateNewCosts=false)</div><div class="ttdoc">A* shortest path on a pose graph with Euclidean edge costs.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a6c009c4c819abe37ec2ca6d041edd92b"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b">rtabmap::graph::getMaxOdomInf</a></div><div class="ttdeci">std::vector< double > RTABMAP_CORE_EXPORT getMaxOdomInf(const std::multimap< int, Link > &links)</div><div class="ttdoc">Maximum information-matrix diagonal over odometry neighbor links.</div></div>
|
||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_a8213a5876c86611ee4c832981eb1e7de"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de">rtabmap::graph::frustumPosesFiltering</a></div><div class="ttdeci">std::map< int, Transform > RTABMAP_CORE_EXPORT frustumPosesFiltering(const std::map< int, Transform > &poses, const Transform &cameraPose, float horizontalFOV=45.0f, float verticalFOV=45.0f, float nearClipPlaneDistance=0.1f, float farClipPlaneDistance=100.0f, bool negative=false)</div><div class="ttdoc">Keeps poses inside (or outside) a camera frustum.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1graph_html_a83c41a7cdd595ae6f76d3f1c5140c215"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215">rtabmap::graph::calcRelativeErrors</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT calcRelativeErrors(const std::vector< Transform > &poses_gt, const std::vector< Transform > &poses_result, float &t_err, float &r_err)</div><div class="ttdoc">Mean frame-to-frame relative pose error (RPE-style, one step).</div></div>
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<div class="ttc" id="anamespacertabmap_1_1graph_html_a8cd823f440a4512407ef78d76ff1dbbf"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">rtabmap::graph::findNearestPoses</a></div><div class="ttdeci">std::map< int, Transform > RTABMAP_CORE_EXPORT findNearestPoses(int nodeId, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)</div><div class="ttdoc">Like findNearestNodes(int,const std::map<int,Transform>&,float,float,int) but returns full Transform ...</div></div>
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<div class="ttc" id="anamespacertabmap_1_1graph_html_a92dfe14b22f897e11bf5bf3f7a7c9157"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">rtabmap::graph::findNearestNodes</a></div><div class="ttdeci">std::map< int, float > RTABMAP_CORE_EXPORT findNearestNodes(int nodeId, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)</div><div class="ttdoc">Spatial neighbors of a node (KD-tree radius or k-NN search).</div></div>
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<div class="ttc" id="anamespacertabmap_1_1graph_html_a96a6c2e8348e3d9cfd8b1770d17da9b2"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2">rtabmap::graph::exportGPS</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT exportGPS(const std::string &filePath, const std::map< int, GPS > &gpsValues, unsigned int rgba=0xFFFFFFFF)</div><div class="ttdoc">Exports GPS samples to a PLY point cloud.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1graph_html_aaa0b06795dea514ad1d5fdd4626d32ec"><div class="ttname"><a href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">rtabmap::graph::findLink</a></div><div class="ttdeci">std::multimap< int, Link >::iterator RTABMAP_CORE_EXPORT findLink(std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)</div><div class="ttdoc">Finds the first link from from to to in a multimap keyed by source id.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1graph_html_aabda884597e6b8df053d04ee56cfaf6f"><div class="ttname"><a href="namespacertabmap_1_1graph.html#aabda884597e6b8df053d04ee56cfaf6f">rtabmap::graph::reduceGraph</a></div><div class="ttdeci">void reduceGraph(const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, std::multimap< int, int > &hyperNodes, std::multimap< int, Link > &hyperLinks)</div><div class="ttdoc">Reduces a pose graph into hyper-nodes and hyper-links.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1graph_html_acaf3e4ffcfc830747c3c3cb02a8ea155"><div class="ttname"><a href="namespacertabmap_1_1graph.html#acaf3e4ffcfc830747c3c3cb02a8ea155">rtabmap::graph::radiusPosesClustering</a></div><div class="ttdeci">std::multimap< int, int > RTABMAP_CORE_EXPORT radiusPosesClustering(const std::map< int, Transform > &poses, float radius, float angle)</div><div class="ttdoc">Radius-neighbor clustering of poses.</div></div>
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||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_ae487257302634dff8248188e2ed69043"><div class="ttname"><a href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043">rtabmap::graph::getPosesInRadius</a></div><div class="ttdeci">RTABMAP_DEPRECATED std::map< int, Transform > RTABMAP_CORE_EXPORT getPosesInRadius(int nodeId, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)</div></div>
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||||
<div class="ttc" id="anamespacertabmap_1_1graph_html_af5622dec3112ea0b5154056bde132d46"><div class="ttname"><a href="namespacertabmap_1_1graph.html#af5622dec3112ea0b5154056bde132d46">rtabmap::graph::exportPoses</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT exportPoses(const std::string &filePath, int format, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints=std::multimap< int, Link >(), const std::map< int, double > &stamps=std::map< int, double >(), const ParametersMap &parameters=ParametersMap())</div><div class="ttdoc">Writes poses (and optional constraints) to disk.</div></div>
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<div class="ttc" id="anamespacertabmap_1_1graph_html_af9e81a0b31730adb292591b79f45c87e"><div class="ttname"><a href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e">rtabmap::graph::getNodesInRadius</a></div><div class="ttdeci">RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT getNodesInRadius(int nodeId, const std::map< int, Transform > &nodes, float radius)</div></div>
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||||
<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#l00039">BayesFilter.h:39</a></div></div>
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||||
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map< std::string, std::string > ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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||||
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html">rtabmap::graph::MaxGraphErrors</a></div><div class="ttdoc">Largest pose-graph constraint violations after optimization.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00231">Graph.h:232</a></div></div>
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<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a08918b252e5814477beff38b423df39b"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a08918b252e5814477beff38b423df39b">rtabmap::graph::MaxGraphErrors::angular</a></div><div class="ttdeci">float angular</div><div class="ttdoc">Absolute angular error (rad) of the worst link.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00234">Graph.h:234</a></div></div>
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<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a2a49ed004369d9a6670781d7f3b3cae9"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9">rtabmap::graph::MaxGraphErrors::linearRatio</a></div><div class="ttdeci">float linearRatio</div><div class="ttdoc">linear / sqrt(trans variance) of the worst link.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00235">Graph.h:235</a></div></div>
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@@ -366,9 +409,13 @@ $(document).ready(function() { init_codefold(0); });
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<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a97bead9a8191f2746e2586a965ca3c80"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a97bead9a8191f2746e2586a965ca3c80">rtabmap::graph::MaxGraphErrors::angularRatio</a></div><div class="ttdeci">float angularRatio</div><div class="ttdoc">angular / sqrt(rot variance) of the worst link.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00236">Graph.h:236</a></div></div>
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||||
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_ae51dd46bd7d7f6779b681eb906654321"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#ae51dd46bd7d7f6779b681eb906654321">rtabmap::graph::MaxGraphErrors::linearLink</a></div><div class="ttdeci">Link linearLink</div><div class="ttdoc">Link with largest linearRatio.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00237">Graph.h:237</a></div></div>
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