i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-04 17:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update documentation (latest) 9279ab68ca

Browse Source
This commit is contained in:
github-actions[bot]
2026-08-30 06:13:50 +00:00
parent f67c424db8
commit b486396a6f
25 changed files with 996 additions and 934 deletions
Download Patch File Download Diff File Expand all files Collapse all files
api/latest/namespacertabmap_1_1graph.html
+50
View File
@@ -179,6 +179,9 @@ Functions</h2></td></tr>
<tr class="memitem:a5ec6c3883f73181d9458c5905c0aa0ea" id="r_a5ec6c3883f73181d9458c5905c0aa0ea"><td class="memItemLeft" align="right" valign="top">std::list&lt; std::pair&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath</a> (const std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &gt; &amp;poses, const std::multimap&lt; int, int &gt; &amp;links, int from, int to, bool updateNewCosts=false)</td></tr>
<tr class="memdesc:a5ec6c3883f73181d9458c5905c0aa0ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">A* shortest path on a pose graph with Euclidean edge costs. <br /></td></tr>
<tr class="separator:a5ec6c3883f73181d9458c5905c0aa0ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8acc34fed4cb4e452e8e14d05dafc578" id="r_a8acc34fed4cb4e452e8e14d05dafc578"><td class="memItemLeft" align="right" valign="top">std::map&lt; int, int &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap_1_1graph.html#a8acc34fed4cb4e452e8e14d05dafc578">computePathDepths</a> (const std::multimap&lt; int, int &gt; &amp;links, int from, int maxDepth=0)</td></tr>
<tr class="memdesc:a8acc34fed4cb4e452e8e14d05dafc578"><td class="mdescLeft">&#160;</td><td class="mdescRight">Single-source graph depth via BFS. <br /></td></tr>
<tr class="separator:a8acc34fed4cb4e452e8e14d05dafc578"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae21d02d613df461d6163f9d9a3db7ad2" id="r_ae21d02d613df461d6163f9d9a3db7ad2"><td class="memItemLeft" align="right" valign="top">std::list&lt; int &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap_1_1graph.html#ae21d02d613df461d6163f9d9a3db7ad2">computePath</a> (const std::multimap&lt; int, <a class="el" href="classrtabmap_1_1Link.html">Link</a> &gt; &amp;links, int from, int to, bool updateNewCosts=false, bool useSameCostForAllLinks=false)</td></tr>
<tr class="memdesc:ae21d02d613df461d6163f9d9a3db7ad2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dijkstra shortest path on link constraints. <br /></td></tr>
<tr class="separator:ae21d02d613df461d6163f9d9a3db7ad2"><td class="memSeparator" colspan="2">&#160;</td></tr>
@@ -1481,6 +1484,53 @@ std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform<
</dl>
<dl class="section return"><dt>Returns</dt><dd>Ordered path from <code>from</code> to <code>to</code> (inclusive) with poses; empty if unreachable. </dd></dl>
</div>
</div>
<a id="a8acc34fed4cb4e452e8e14d05dafc578" name="a8acc34fed4cb4e452e8e14d05dafc578"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8acc34fed4cb4e452e8e14d05dafc578">&#9670;&#160;</a></span>computePathDepths()</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">std::map&lt; int, int &gt; RTABMAP_CORE_EXPORT rtabmap::graph::computePathDepths </td>
<td>(</td>
<td class="paramtype">const std::multimap&lt; int, int &gt; &amp;&#160;</td>
<td class="paramname"><em>links</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>from</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>maxDepth</em> = <code>0</code>&#160;</td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>Single-source graph depth via BFS. </p>
<p>Runs one breadth-first search from <code>from</code> and returns, for every reached node, its depth from <code>from</code> (i.e., the number of links on the shortest path, <code>from</code> itself having depth 0).</p>
<dl class="section note"><dt>Note</dt><dd>The depth is a number of hops, not a distance: it counts links, and the poses of the nodes play no part in it. The path it stands for is thus not the one <a class="el" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath()</a> returns, which minimizes the Euclidean length instead and can walk more links to save meters.</dd></dl>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">links</td><td>Directed edges (<code>from</code> → <code>to</code>) keyed by source id. </td></tr>
<tr><td class="paramname">from</td><td>Start node id. </td></tr>
<tr><td class="paramname">maxDepth</td><td>If &gt; 0, only nodes with depth ≤ this value are returned (the frontier is not expanded further); <code>0</code> explores the whole component. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>Node id → depth mapping. </dd></dl>
</div>
</div>
<a id="ae21d02d613df461d6163f9d9a3db7ad2" name="ae21d02d613df461d6163f9d9a3db7ad2"></a>