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Integration of the path planner into rtabmap's memory management to actually retrieve nodes on the planned path on the graph.

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Added Rtabmap::clearPath(), Rtabmap::computePath(), Rtabmap::getPathGoalId() and Rtabmap::updateGoalIndex() methods.
Added virtual links when path retrieval is activated (virtual links are not saved to database and removed when the path goal is reached).
New parameters: RGBD/GoalReachedRadius and RGBD/MaxAnticipatedNodes
Refactored how loop closure hypotheses are selected (fixed ratio between consecutive hypotheses, not the last loop closure).
Updated getNodesInRadius() to use all filtered scans.
GUI: window can be saved/loaded maximized
GUI: saving Graph View parameters to config.ini
This commit is contained in:
Mathieu Labbe
2015-01-30 15:30:57 -05:00
parent 45a5da9f16
commit a2dde36093
21 changed files with 929 additions and 310 deletions
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corelib/include/rtabmap/core/Link.h
+1 -1
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@@ -35,7 +35,7 @@ namespace rtabmap {
class Link
{
public:
enum Type {kNeighbor, kGlobalClosure, kLocalSpaceClosure, kLocalTimeClosure, kUserClosure, kUndef};
enum Type {kNeighbor, kGlobalClosure, kLocalSpaceClosure, kLocalTimeClosure, kUserClosure, kVirtualClosure, kUndef};
Link() :
from_(0),
to_(0),