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rtabmap: added parameter to keep the old id or to update to new id when merging on rehearsal

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@758 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2013-01-27 04:50:49 +00:00
parent 635dd9c177
commit a4ccd6acd6
10 changed files with 156 additions and 111 deletions
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corelib/src/Signature.h
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@@ -59,6 +59,7 @@ public:
void setLoopClosureIds(const std::set<int> & loopClosureIds) {_loopClosureIds = loopClosureIds;_neighborsModified=true;}
void addLoopClosureId(int loopClosureId) {if(loopClosureId && _loopClosureIds.insert(loopClosureId).second)_neighborsModified=true;}
void removeLoopClosureId(int loopClosureId) {if(loopClosureId && _loopClosureIds.erase(loopClosureId))_neighborsModified=true;}
void removeChildLoopClosureId(int childLoopClosureId) {if(childLoopClosureId && _childLoopClosureIds.erase(childLoopClosureId))_neighborsModified=true;}
bool hasLoopClosureId(int loopClosureId) const {return _loopClosureIds.find(loopClosureId) != _loopClosureIds.end();}
void setChildLoopClosureIds(std::set<int> & childLoopClosureIds) {_childLoopClosureIds = childLoopClosureIds;_neighborsModified=true;}
void addChildLoopClosureId(int childLoopClosureId) {if(childLoopClosureId && _childLoopClosureIds.insert(childLoopClosureId).second)_neighborsModified=true;}