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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/src/Memory.cpp
+13 -1
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@@ -2134,7 +2134,10 @@ bool Memory::addLoopClosureLink(int oldId, int newId, const Transform & transfor
return true;
}
_memoryChanged = true;
if(type != Link::kVirtualClosure)
{
_memoryChanged = true;
}
UDEBUG("Add loop closure link between %d and %d", oldS->id(), newS->id());
oldS->addLink(Link(oldS->id(), newS->id(), type, transform.inverse(), variance));
@@ -2184,6 +2187,15 @@ void Memory::updateNeighborLink(int fromId, int toId, const Transform & transfor
}
}
void Memory::removeAllVirtualLinks()
{
UDEBUG("");
for(std::map<int, Signature*>::iterator iter=_signatures.begin(); iter!=_signatures.end(); ++iter)
{
iter->second->removeVirtualLinks();
}
}
void Memory::dumpMemory(std::string directory) const
{
UINFO("Dumping memory to directory \"%s\"", directory.c_str());