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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738

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2026-08-02 07:56:38 +00:00
parent 6259cf4409
commit 9043c4a9aa
1083 changed files with 121946 additions and 11202 deletions
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preview/pr-1492/api/latest/classrtabmap_1_1Link.html
+68 -37
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -50,6 +55,23 @@ $(function() {
/* @license-end */
</script>
<div id="main-nav"></div>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
</div>
</div>
<div id="splitbar" style="-moz-user-select:none;"
class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('classrtabmap_1_1Link.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
@@ -71,11 +93,6 @@ $(function() {
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1Link.html">Link</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="summary">
<a href="#pub-types">Public Types</a> &#124;
@@ -106,12 +123,12 @@ Public Types</h2></td></tr>
, <br />
&#160;&#160;<a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9">kLandmark</a>
, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983">kGravity</a>
, <b>kEnd</b>
, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00">kEnd</a>
, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ead52adb0176a83a02833e89111f66497e">kSelfRefLink</a> = 97
, <br />
&#160;&#160;<a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eacc2cbab0ea322149df37addb91cb75ac">kAllWithLandmarks</a> = 98
, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae8ffae7407e28cf7a125f76bea2864a5">kAllWithoutLandmarks</a> = 99
, <b>kUndef</b> = 99
, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">kUndef</a> = 99
<br />
}</td></tr>
<tr class="memdesc:a925bb7ca93eb95a3a873b0a9e8d5e91e"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Link.html" title="Directed constraint between two nodes in RTAB-Map&#39;s pose graph.">Link</a> category and filter sentinels. <a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">More...</a><br /></td></tr>
@@ -121,9 +138,9 @@ Public Types</h2></td></tr>
Public Member Functions</h2></td></tr>
<tr class="memitem:a2dce9c7a3ef04085d51f702002107c7b" id="r_a2dce9c7a3ef04085d51f702002107c7b"><td class="memItemLeft" align="right" valign="top"><a id="a2dce9c7a3ef04085d51f702002107c7b" name="a2dce9c7a3ef04085d51f702002107c7b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>Link</b> ()</td></tr>
<tr class="memdesc:a2dce9c7a3ef04085d51f702002107c7b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor; creates an invalid link (kUndef). <br /></td></tr>
<tr class="memdesc:a2dce9c7a3ef04085d51f702002107c7b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor; creates an invalid link (<a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">kUndef</a>). <br /></td></tr>
<tr class="separator:a2dce9c7a3ef04085d51f702002107c7b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f624aa84862d7abafae5cfc7175f885" id="r_a8f624aa84862d7abafae5cfc7175f885"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885">Link</a> (int from, int to, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform, const cv::Mat &amp;infMatrix=cv::Mat::eye(6, 6, CV_64FC1), const cv::Mat &amp;userData=cv::Mat())</td></tr>
<tr class="memitem:a8f624aa84862d7abafae5cfc7175f885" id="r_a8f624aa84862d7abafae5cfc7175f885"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885">Link</a> (int <a class="el" href="classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534">from</a>, int <a class="el" href="classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4">to</a>, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> <a class="el" href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3">type</a>, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;<a class="el" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">transform</a>, const cv::Mat &amp;infMatrix=cv::Mat::eye(6, 6, CV_64FC1), const cv::Mat &amp;userData=cv::Mat())</td></tr>
<tr class="memdesc:a8f624aa84862d7abafae5cfc7175f885"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs a link between two nodes. <br /></td></tr>
<tr class="separator:a8f624aa84862d7abafae5cfc7175f885"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53974a2cea4315106cf12065ace8bb96" id="r_a53974a2cea4315106cf12065ace8bb96"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96">isValid</a> () const</td></tr>
@@ -146,13 +163,13 @@ Public Member Functions</h2></td></tr>
<tr class="memitem:a3c4344c01b4f32a8b4a957b979fea84e" id="r_a3c4344c01b4f32a8b4a957b979fea84e"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">transVariance</a> (bool minimum=true) const</td></tr>
<tr class="memdesc:a3c4344c01b4f32a8b4a957b979fea84e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Translation variance derived from the information matrix diagonal (x, y, z). <br /></td></tr>
<tr class="separator:a3c4344c01b4f32a8b4a957b979fea84e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a06e21ed796bfd34560fbfe4d6076127b" id="r_a06e21ed796bfd34560fbfe4d6076127b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#a06e21ed796bfd34560fbfe4d6076127b">setFrom</a> (int from)</td></tr>
<tr class="memitem:a06e21ed796bfd34560fbfe4d6076127b" id="r_a06e21ed796bfd34560fbfe4d6076127b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#a06e21ed796bfd34560fbfe4d6076127b">setFrom</a> (int <a class="el" href="classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534">from</a>)</td></tr>
<tr class="separator:a06e21ed796bfd34560fbfe4d6076127b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ded748a1817aafa7c4dede0af361832" id="r_a2ded748a1817aafa7c4dede0af361832"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#a2ded748a1817aafa7c4dede0af361832">setTo</a> (int to)</td></tr>
<tr class="memitem:a2ded748a1817aafa7c4dede0af361832" id="r_a2ded748a1817aafa7c4dede0af361832"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#a2ded748a1817aafa7c4dede0af361832">setTo</a> (int <a class="el" href="classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4">to</a>)</td></tr>
<tr class="separator:a2ded748a1817aafa7c4dede0af361832"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aac9001d782f5f91d658e3878a5f92731" id="r_aac9001d782f5f91d658e3878a5f92731"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#aac9001d782f5f91d658e3878a5f92731">setTransform</a> (const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;transform)</td></tr>
<tr class="memitem:aac9001d782f5f91d658e3878a5f92731" id="r_aac9001d782f5f91d658e3878a5f92731"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#aac9001d782f5f91d658e3878a5f92731">setTransform</a> (const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;<a class="el" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">transform</a>)</td></tr>
<tr class="separator:aac9001d782f5f91d658e3878a5f92731"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afd8957f0e5a46e1655ef8e2397991e66" id="r_afd8957f0e5a46e1655ef8e2397991e66"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#afd8957f0e5a46e1655ef8e2397991e66">setType</a> (<a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type)</td></tr>
<tr class="memitem:afd8957f0e5a46e1655ef8e2397991e66" id="r_afd8957f0e5a46e1655ef8e2397991e66"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#afd8957f0e5a46e1655ef8e2397991e66">setType</a> (<a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> <a class="el" href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3">type</a>)</td></tr>
<tr class="separator:afd8957f0e5a46e1655ef8e2397991e66"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a82104ae4195beff134811a3a19d939" id="r_a3a82104ae4195beff134811a3a19d939"><td class="memItemLeft" align="right" valign="top"><a id="a3a82104ae4195beff134811a3a19d939" name="a3a82104ae4195beff134811a3a19d939"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>setInfMatrix</b> (const cv::Mat &amp;infMatrix)</td></tr>
@@ -164,7 +181,7 @@ void&#160;</td><td class="memItemRight" valign="bottom"><b>setInfMatrix</b> (con
<tr class="separator:abdec9d745b1b4679a87b944cd5b48213"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb075101cafb535fc4a9b74f7afae521" id="r_adb075101cafb535fc4a9b74f7afae521"><td class="memItemLeft" align="right" valign="top"><a id="adb075101cafb535fc4a9b74f7afae521" name="adb075101cafb535fc4a9b74f7afae521"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>uncompressUserData</b> ()</td></tr>
<tr class="memdesc:adb075101cafb535fc4a9b74f7afae521"><td class="mdescLeft">&#160;</td><td class="mdescRight">Decompresses user data into userDataRaw() if compressed data is stored. <br /></td></tr>
<tr class="memdesc:adb075101cafb535fc4a9b74f7afae521"><td class="mdescLeft">&#160;</td><td class="mdescRight">Decompresses user data into <a class="el" href="classrtabmap_1_1Link.html#a1fce4ae495f2a4f5e0f7ac10551983ac">userDataRaw()</a> if compressed data is stored. <br /></td></tr>
<tr class="separator:adb075101cafb535fc4a9b74f7afae521"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac425a90800494da64512011315c47e62" id="r_ac425a90800494da64512011315c47e62"><td class="memItemLeft" align="right" valign="top">cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62">uncompressUserDataConst</a> () const</td></tr>
<tr class="separator:ac425a90800494da64512011315c47e62"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -176,13 +193,13 @@ void&#160;</td><td class="memItemRight" valign="bottom"><b>uncompressUserData</b
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:a1fb9569f6435b5a1c800a935b08f0159" id="r_a1fb9569f6435b5a1c800a935b08f0159"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159">typeName</a> (<a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type)</td></tr>
<tr class="memitem:a1fb9569f6435b5a1c800a935b08f0159" id="r_a1fb9569f6435b5a1c800a935b08f0159"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159">typeName</a> (<a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> <a class="el" href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3">type</a>)</td></tr>
<tr class="separator:a1fb9569f6435b5a1c800a935b08f0159"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Directed constraint between two nodes in RTAB-Map's pose graph. </p>
<p>A link connects signature from() to signature to() with a relative <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> and an information matrix (inverse covariance) used by graph optimization. Links are stored on <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> objects and persisted in the database; they define odometry chains, loop closures, landmarks, and priors.</p>
<p>The transform is expressed from the <code>from</code> node frame to the <code>to</code> node frame (i.e. pose of <code>to</code> relative to <code>from</code>), unless type() indicates a special semantics (e.g. <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1">kPosePrior</a>, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9">kLandmark</a>).</p>
<p>A link connects signature <a class="el" href="classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534">from()</a> to signature <a class="el" href="classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4">to()</a> with a relative <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> and an information matrix (inverse covariance) used by graph optimization. Links are stored on <a class="el" href="classrtabmap_1_1Signature.html">Signature</a> objects and persisted in the database; they define odometry chains, loop closures, landmarks, and priors.</p>
<p>The transform is expressed from the <code>from</code> node frame to the <code>to</code> node frame (i.e. pose of <code>to</code> relative to <code>from</code>), unless <a class="el" href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3">type()</a> indicates a special semantics (e.g. <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1">kPosePrior</a>, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9">kLandmark</a>).</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1Signature.html" title="Represents a node in RTAB-Map&#39;s pose graph.">Signature</a> </dd>
<dd>
<a class="el" href="classrtabmap_1_1Memory.html#a4140effa4830fbe679a51e975f0021a1" title="Adds a graph link between two signatures.">Memory::addLink()</a> </dd></dl>
@@ -202,7 +219,7 @@ Static Public Member Functions</h2></td></tr>
</div><div class="memdoc">
<p><a class="el" href="classrtabmap_1_1Link.html" title="Directed constraint between two nodes in RTAB-Map&#39;s pose graph.">Link</a> category and filter sentinels. </p>
<p>Values <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ead52adb0176a83a02833e89111f66497e">kSelfRefLink</a>, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eacc2cbab0ea322149df37addb91cb75ac">kAllWithLandmarks</a>, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae8ffae7407e28cf7a125f76bea2864a5">kAllWithoutLandmarks</a> and kUndef are also used as query filters when retrieving links from memory or the database (they are not stored as link types on signatures). </p>
<p>Values <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ead52adb0176a83a02833e89111f66497e">kSelfRefLink</a>, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eacc2cbab0ea322149df37addb91cb75ac">kAllWithLandmarks</a>, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae8ffae7407e28cf7a125f76bea2864a5">kAllWithoutLandmarks</a> and <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">kUndef</a> are also used as query filters when retrieving links from memory or the database (they are not stored as link types on signatures). </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a925bb7ca93eb95a3a873b0a9e8d5e91ea8f60efd83d5fad3493573bef3d4a8adf" name="a925bb7ca93eb95a3a873b0a9e8d5e91ea8f60efd83d5fad3493573bef3d4a8adf"></a>kNeighbor&#160;</td><td class="fielddoc"><p>Sequential odometry link between consecutive nodes. </p>
</td></tr>
@@ -224,12 +241,16 @@ Static Public Member Functions</h2></td></tr>
</td></tr>
<tr><td class="fieldname"><a id="a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983" name="a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983"></a>kGravity&#160;</td><td class="fielddoc"><p>Gravity direction constraint on the base frame (<code>from</code> == <code>to</code>). </p>
</td></tr>
<tr><td class="fieldname"><a id="a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00" name="a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00"></a>kEnd&#160;</td><td class="fielddoc"><p>Sentinel: number of link types that can be stored. </p>
</td></tr>
<tr><td class="fieldname"><a id="a925bb7ca93eb95a3a873b0a9e8d5e91ead52adb0176a83a02833e89111f66497e" name="a925bb7ca93eb95a3a873b0a9e8d5e91ead52adb0176a83a02833e89111f66497e"></a>kSelfRefLink&#160;</td><td class="fielddoc"><p>Filter: links where <code>from</code> == <code>to</code> (e.g. <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1">kPosePrior</a>, <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983">kGravity</a>). </p>
</td></tr>
<tr><td class="fieldname"><a id="a925bb7ca93eb95a3a873b0a9e8d5e91eacc2cbab0ea322149df37addb91cb75ac" name="a925bb7ca93eb95a3a873b0a9e8d5e91eacc2cbab0ea322149df37addb91cb75ac"></a>kAllWithLandmarks&#160;</td><td class="fielddoc"><p>Filter: all link types including <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9">kLandmark</a>. </p>
</td></tr>
<tr><td class="fieldname"><a id="a925bb7ca93eb95a3a873b0a9e8d5e91eae8ffae7407e28cf7a125f76bea2864a5" name="a925bb7ca93eb95a3a873b0a9e8d5e91eae8ffae7407e28cf7a125f76bea2864a5"></a>kAllWithoutLandmarks&#160;</td><td class="fielddoc"><p>Filter: all link types except <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9">kLandmark</a>. </p>
</td></tr>
<tr><td class="fieldname"><a id="a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4" name="a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4"></a>kUndef&#160;</td><td class="fielddoc"><p>Undefined type or invalid link. </p>
</td></tr>
</table>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00064">64</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
@@ -354,7 +375,7 @@ Static Public Member Functions</h2></td></tr>
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<dl class="section return"><dt>Returns</dt><dd>True if ids, transform, and type are valid for use in the graph. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00103">103</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00104">104</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
</div>
</div>
@@ -380,8 +401,9 @@ Static Public Member Functions</h2></td></tr>
</tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>Source signature id. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00105">105</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00107">107</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
</div>
</div>
@@ -407,8 +429,9 @@ Static Public Member Functions</h2></td></tr>
</tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>Target signature id (negative for a landmark). </dd></dl>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00106">106</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00109">109</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
</div>
</div>
@@ -434,8 +457,9 @@ Static Public Member Functions</h2></td></tr>
</tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>Relative transform, from the <a class="el" href="classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534">from()</a> frame to the <a class="el" href="classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4">to()</a> frame. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00107">107</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00111">111</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
</div>
</div>
@@ -461,8 +485,9 @@ Static Public Member Functions</h2></td></tr>
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</table>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classrtabmap_1_1Link.html" title="Directed constraint between two nodes in RTAB-Map&#39;s pose graph.">Link</a> category (see <a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a>). </dd></dl>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00108">108</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00113">113</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
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@@ -489,7 +514,7 @@ Static Public Member Functions</h2></td></tr>
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<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00109">109</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00114">114</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
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@@ -516,7 +541,7 @@ Static Public Member Functions</h2></td></tr>
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<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00110">110</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00115">115</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
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@@ -596,7 +621,7 @@ Static Public Member Functions</h2></td></tr>
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<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00124">124</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00129">129</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
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@@ -624,7 +649,7 @@ Static Public Member Functions</h2></td></tr>
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</div><div class="memdoc">
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00125">125</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00130">130</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
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@@ -652,7 +677,7 @@ Static Public Member Functions</h2></td></tr>
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<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00126">126</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00131">131</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
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@@ -680,7 +705,7 @@ Static Public Member Functions</h2></td></tr>
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</div><div class="memdoc">
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00127">127</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00132">132</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
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@@ -706,8 +731,9 @@ Static Public Member Functions</h2></td></tr>
</tr>
</table>
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<dl class="section return"><dt>Returns</dt><dd>Uncompressed user data, empty unless it was set raw or <a class="el" href="classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521">uncompressUserData()</a> was called. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00131">131</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00137">137</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
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@@ -733,8 +759,9 @@ Static Public Member Functions</h2></td></tr>
</tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>User data as stored/persisted, in compressed form. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00132">132</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Link_8h_source.html#l00139">139</a> of file <a class="el" href="Link_8h_source.html">Link.h</a>.</p>
</div>
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@@ -785,13 +812,13 @@ Static Public Member Functions</h2></td></tr>
<p>Chains this link (from → to) with <code>link</code> (to → link.to). </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">link</td><td>Second link; must satisfy <code>this-&gt;to()</code> == link.from(). </td></tr>
<tr><td class="paramname">link</td><td>Second link; must satisfy <code>this-&gt;<a class="el" href="classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4">to()</a></code> == link.from(). </td></tr>
<tr><td class="paramname">outputType</td><td>Type of the merged link. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Single link from from() to <code>link.to()</code> with transform (T_{ac} = T_{ab} T_{bc}) (or null if either input transform is null). Information matrix handling depends on <code>outputType:</code> <ul>
<li>kNeighborMerged: (\Omega_{ac} = (\Omega_{ab}^{-1} + \Omega_{bc}^{-1})^{-1}) (covariances add when both legs are diagonal and independent).</li>
<dl class="section return"><dt>Returns</dt><dd>Single link from <a class="el" href="classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534">from()</a> to <code>link.to()</code> with transform (T_{ac} = T_{ab} T_{bc}) (or null if either input transform is null). Information matrix handling depends on <code>outputType:</code> <ul>
<li><a class="el" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8fbb6dbe2d16e19ad8fecb6bac65e9db">kNeighborMerged</a>: (\Omega_{ac} = (\Omega_{ab}^{-1} + \Omega_{bc}^{-1})^{-1}) (covariances add when both legs are diagonal and independent).</li>
<li>Other types: keeps the full information matrix of <code>link</code> unless (\Omega_{ab}(0,0) &lt; \Omega_{bc}(0,0)) (i.e. the smaller x information entry). </li>
</ul>
</dd></dl>
@@ -820,9 +847,13 @@ Static Public Member Functions</h2></td></tr>
<li>corelib/include/rtabmap/core/<a class="el" href="Link_8h_source.html">Link.h</a></li>
</ul>
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