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

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

examples/BOWMapping/main.cpp

@@ -139,7 +139,7 @@ int main(int argc, char * argv[])
 					(int)rtabmap.getSTM().size(), // short-term memory
 					(int)rtabmap.getWM().size(), // working memory
 					rtabmap.getLoopClosureId(),
-					rtabmap.getLcHypValue(),
+					rtabmap.getLoopClosureValue(),
 					nextIndex,
 					rtabmap.getLoopClosureId());
 		}
@@ -150,8 +150,8 @@ int main(int argc, char * argv[])
 					rtabmap.getLastProcessTime(),
 					(int)rtabmap.getSTM().size(), // short-term memory
 					(int)rtabmap.getWM().size(), // working memory
-					rtabmap.getRetrievedId(), // highest loop closure hypothesis
-					rtabmap.getLcHypValue());
+					rtabmap.getHighestHypothesisId(), // highest loop closure hypothesis
+					rtabmap.getLoopClosureValue());
 		}
 
 		++nextIndex;