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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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guilib/src/GraphViewer.h
+35 -1
View File
@@ -44,6 +44,9 @@ class NodeItem;
class LinkItem;
class GraphViewer : public QGraphicsView {
Q_OBJECT;
public:
GraphViewer(QWidget * parent = 0);
virtual ~GraphViewer();
@@ -57,7 +60,35 @@ public:
void clearPosterior();
void clearAll();
void setWorkingDirectory(const QString & path) {_workingDirectory = path;}
//getters
const QString & getWorkingDirectory() const {return _workingDirectory;}
float getNodeRadius() const {return _nodeRadius;}
float getLinkWidth() const {return _linkWidth;}
const QColor & getNodeColor() const {return _nodeColor;}
const QColor & getNeighborColor() const {return _neighborColor;}
const QColor & getGlobalLoopClosureColor() const {return _loopClosureColor;}
const QColor & getLocalLoopClosureColor() const {return _loopClosureLocalColor;}
const QColor & getUserLoopClosureColor() const {return _loopClosureUserColor;}
const QColor & getVirtualLoopClosureColor() const {return _loopClosureVirtualColor;}
bool isGridMapVisible() const;
// setters
void setWorkingDirectory(const QString & path);
void setNodeRadius(float radius);
void setLinkWidth(float width);
void setNodeColor(const QColor & color);
void setNeighborColor(const QColor & color);
void setGlobalLoopClosureColor(const QColor & color);
void setLocalLoopClosureColor(const QColor & color);
void setUserLoopClosureColor(const QColor & color);
void setVirtualLoopClosureColor(const QColor & color);
void setGridMapVisible(bool visible);
signals:
void configChanged();
public slots:
void restoreDefaults();
protected:
virtual void wheelEvent ( QWheelEvent * event );
@@ -68,6 +99,9 @@ private:
QColor _nodeColor;
QColor _neighborColor;
QColor _loopClosureColor;
QColor _loopClosureLocalColor;
QColor _loopClosureUserColor;
QColor _loopClosureVirtualColor;
QGraphicsItem * _root;
QMap<int, NodeItem*> _nodeItems;
QMultiMap<int, LinkItem*> _neighborLinkItems;