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@@ -302,77 +302,82 @@ $(document).ready(function(){initNavTree('Graph_8h_source.html',''); initResizab
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> <span class="keywordtype">int</span> to,</div> <div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>);</div> <div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> </div> <div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> </div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#ae21d02d613df461d6163f9d9a3db7ad2"> 506</a></span>std::list&lt;int&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath</a>(</div> <div class="line"><a id="l00511" name="l00511"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a8acc34fed4cb4e452e8e14d05dafc578"> 511</a></span>std::map&lt;int, int&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a8acc34fed4cb4e452e8e14d05dafc578">computePathDepths</a>(</div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div> <div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> <span class="keyword">const</span> std::multimap&lt;int, int&gt; &amp; links,</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> <span class="keywordtype">int</span> from,</div> <div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> <span class="keywordtype">int</span> to,</div> <div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> <span class="keywordtype">int</span> maxDepth = 0);</div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div> <div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> </div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> <span class="keywordtype">bool</span> useSameCostForAllLinks = <span class="keyword">false</span>);</div> <div class="line"><a id="l00529" name="l00529"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#ae21d02d613df461d6163f9d9a3db7ad2"> 529</a></span>std::list&lt;int&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath</a>(</div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> </div> <div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a1ec6b9506985624f31fb2091219cb142"> 545</a></span>std::list&lt;std::pair&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath</a>(</div> <div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keywordtype">int</span> fromId,</div> <div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> <span class="keywordtype">int</span> toId,</div> <div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory,</div> <div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> <span class="keywordtype">bool</span> useSameCostForAllLinks = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">true</span>,</div> <div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> </div>
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div> <div class="line"><a id="l00568" name="l00568"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a1ec6b9506985624f31fb2091219cb142"> 568</a></span>std::list&lt;std::pair&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath</a>(</div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> <span class="keywordtype">float</span> linearVelocity = 0.0f,</div> <div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> <span class="keywordtype">int</span> fromId,</div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> <span class="keywordtype">float</span> angularVelocity = 0.0f,</div> <div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> <span class="keywordtype">int</span> toId,</div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> <span class="keywordtype">bool</span> ignoreDirectLinks = <span class="keyword">false</span>);</div> <div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory,</div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> </div> <div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c"> 565</a></span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c">findNearestNode</a>(</div> <div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> <span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; poses,</div> <div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> <span class="keywordtype">float</span> linearVelocity = 0.0f,</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; targetPose,</div> <div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span> <span class="keywordtype">float</span> angularVelocity = 0.0f,</div>
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> <span class="keywordtype">float</span> * distance = 0);</div> <div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span> <span class="keywordtype">bool</span> ignoreDirectLinks = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> </div> <div class="line"><a id="l00577" name="l00577"></a><span class="lineno"> 577</span> </div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157"> 584</a></span>std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(</div> <div class="line"><a id="l00588" name="l00588"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c"> 588</a></span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c">findNearestNode</a>(</div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> <span class="keywordtype">int</span> nodeId,</div> <div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> <span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> <span class="keywordtype">float</span> radius,</div> <div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> <span class="keywordtype">float</span> * distance = 0);</div>
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> <span class="keywordtype">float</span> angle = 0.0f,</div> <div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span> </div>
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> <span class="keywordtype">int</span> k=0);</div> <div class="line"><a id="l00607" name="l00607"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157"> 607</a></span>std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(</div>
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a70a5f4b17aa3bb54cad151c9f290ff7f"> 599</a></span>std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(</div> <div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose,</div> <div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> <span class="keywordtype">float</span> radius,</div> <div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span> <span class="keywordtype">float</span> angle = 0.0f,</div> <div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">int</span> k=0);</div> <div class="line"><a id="l00622" name="l00622"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a70a5f4b17aa3bb54cad151c9f290ff7f"> 622</a></span>std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(</div>
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf"> 609</a></span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">findNearestPoses</a>(</div> <div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> <span class="keywordtype">int</span> nodeId,</div> <div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> <span class="keywordtype">float</span> radius,</div> <div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> <span class="keywordtype">float</span> angle = 0.0f,</div> <div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> <span class="keywordtype">int</span> k=0);</div> <div class="line"><a id="l00632" name="l00632"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf"> 632</a></span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">findNearestPoses</a>(</div>
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a236de727a38e51699fe73ff61b459d95"> 617</a></span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">findNearestPoses</a>(</div> <div class="line"><a id="l00633" name="l00633"></a><span class="lineno"> 633</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose,</div> <div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"> 619</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00635" name="l00635"></a><span class="lineno"> 635</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span> <span class="keywordtype">float</span> radius,</div> <div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> <span class="keywordtype">float</span> angle = 0.0f,</div> <div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> <span class="keywordtype">int</span> k=0);</div> <div class="line"><a id="l00640" name="l00640"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a236de727a38e51699fe73ff61b459d95"> 640</a></span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">findNearestPoses</a>(</div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> </div> <div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a52dbbfb5099e97699f2ead9139891a5f"> 625</a></span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(<span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; nodes, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; targetPose, <span class="keywordtype">int</span> k);</div> <div class="line"><a id="l00642" name="l00642"></a><span class="lineno"> 642</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e"> 627</a></span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e">getNodesInRadius</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius);</div> <div class="line"><a id="l00643" name="l00643"></a><span class="lineno"> 643</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a4f7f712868babb4cc74f7fe2cc366620"> 629</a></span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e">getNodesInRadius</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius);</div> <div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043"> 631</a></span>RTABMAP_DEPRECATED std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043">getPosesInRadius</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div> <div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a0851e81af5d331032ec790a10bb4302f"> 633</a></span>RTABMAP_DEPRECATED std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043">getPosesInRadius</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div> <div class="line"><a id="l00646" name="l00646"></a><span class="lineno"> 646</span> </div>
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> </div> <div class="line"><a id="l00648" name="l00648"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a52dbbfb5099e97699f2ead9139891a5f"> 648</a></span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(<span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; nodes, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; targetPose, <span class="keywordtype">int</span> k);</div>
<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39"> 643</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">computePathLength</a>(</div> <div class="line"><a id="l00650" name="l00650"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e"> 650</a></span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e">getNodesInRadius</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius);</div>
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, Transform&gt; &gt; &amp; path);</div> <div class="line"><a id="l00652" name="l00652"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a4f7f712868babb4cc74f7fe2cc366620"> 652</a></span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e">getNodesInRadius</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius);</div>
<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> </div> <div class="line"><a id="l00654" name="l00654"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043"> 654</a></span>RTABMAP_DEPRECATED std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043">getPosesInRadius</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a14376d7f2365ab41e5c361876c999277"> 655</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">computePathLength</a>(</div> <div class="line"><a id="l00656" name="l00656"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a0851e81af5d331032ec790a10bb4302f"> 656</a></span>RTABMAP_DEPRECATED std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043">getPosesInRadius</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; path);</div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> </div> <div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> </div>
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094"> 670</a></span>std::list&lt;std::map&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094">getPaths</a>(</div> <div class="line"><a id="l00666" name="l00666"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39"> 666</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">computePathLength</a>(</div>
<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> std::map&lt;int, Transform&gt; poses,</div> <div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, Transform&gt; &gt; &amp; path);</div>
<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"> 672</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links);</div> <div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> </div>
<div class="line"><a id="l00673" name="l00673"></a><span class="lineno"> 673</span> </div> <div class="line"><a id="l00678" name="l00678"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a14376d7f2365ab41e5c361876c999277"> 678</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">computePathLength</a>(</div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410"> 681</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410">computeMinMax</a>(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div> <div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; path);</div>
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span> cv::Vec3f &amp; min,</div> <div class="line"><a id="l00680" name="l00680"></a><span class="lineno"> 680</span> </div>
<div class="line"><a id="l00683" name="l00683"></a><span class="lineno"> 683</span> cv::Vec3f &amp; max);</div> <div class="line"><a id="l00693" name="l00693"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094"> 693</a></span>std::list&lt;std::map&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094">getPaths</a>(</div>
<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"> 684</span> </div> <div class="line"><a id="l00694" name="l00694"></a><span class="lineno"> 694</span> std::map&lt;int, Transform&gt; poses,</div>
<div class="line"><a id="l00685" name="l00685"></a><span class="lineno"> 685</span>} <span class="comment">/* namespace graph */</span></div> <div class="line"><a id="l00695" name="l00695"></a><span class="lineno"> 695</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links);</div>
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno"> 686</span> </div> <div class="line"><a id="l00696" name="l00696"></a><span class="lineno"> 696</span> </div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"> 687</span>} <span class="comment">/* namespace rtabmap */</span></div> <div class="line"><a id="l00704" name="l00704"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410"> 704</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410">computeMinMax</a>(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno"> 688</span><span class="preprocessor">#endif </span><span class="comment">/* GRAPH_H_ */</span><span class="preprocessor"></span></div> <div class="line"><a id="l00705" name="l00705"></a><span class="lineno"> 705</span> cv::Vec3f &amp; min,</div>
<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span> cv::Vec3f &amp; max);</div>
<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"> 707</span> </div>
<div class="line"><a id="l00708" name="l00708"></a><span class="lineno"> 708</span>} <span class="comment">/* namespace graph */</span></div>
<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"> 709</span> </div>
<div class="line"><a id="l00710" name="l00710"></a><span class="lineno"> 710</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"> 711</span><span class="preprocessor">#endif </span><span class="comment">/* GRAPH_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Link category and filter sentinels.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00064">Link.h:64</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Link category and filter sentinels.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00064">Link.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">rtabmap::Link::kUndef</a></div><div class="ttdeci">@ kUndef</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00080">Link.h:79</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">rtabmap::Link::kUndef</a></div><div class="ttdeci">@ kUndef</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00080">Link.h:79</a></div></div>
@@ -394,6 +399,7 @@ $(document).ready(function(){initNavTree('Graph_8h_source.html',''); initResizab
<div class="ttc" id="anamespacertabmap_1_1graph_html_a6c009c4c819abe37ec2ca6d041edd92b"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b">rtabmap::graph::getMaxOdomInf</a></div><div class="ttdeci">std::vector&lt; double &gt; RTABMAP_CORE_EXPORT getMaxOdomInf(const std::multimap&lt; int, Link &gt; &amp;links)</div><div class="ttdoc">Maximum information-matrix diagonal over odometry neighbor links.</div></div> <div class="ttc" id="anamespacertabmap_1_1graph_html_a6c009c4c819abe37ec2ca6d041edd92b"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b">rtabmap::graph::getMaxOdomInf</a></div><div class="ttdeci">std::vector&lt; double &gt; RTABMAP_CORE_EXPORT getMaxOdomInf(const std::multimap&lt; int, Link &gt; &amp;links)</div><div class="ttdoc">Maximum information-matrix diagonal over odometry neighbor links.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a8213a5876c86611ee4c832981eb1e7de"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de">rtabmap::graph::frustumPosesFiltering</a></div><div class="ttdeci">std::map&lt; int, Transform &gt; RTABMAP_CORE_EXPORT frustumPosesFiltering(const std::map&lt; int, Transform &gt; &amp;poses, const Transform &amp;cameraPose, float horizontalFOV=45.0f, float verticalFOV=45.0f, float nearClipPlaneDistance=0.1f, float farClipPlaneDistance=100.0f, bool negative=false)</div><div class="ttdoc">Keeps poses inside (or outside) a camera frustum.</div></div> <div class="ttc" id="anamespacertabmap_1_1graph_html_a8213a5876c86611ee4c832981eb1e7de"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de">rtabmap::graph::frustumPosesFiltering</a></div><div class="ttdeci">std::map&lt; int, Transform &gt; RTABMAP_CORE_EXPORT frustumPosesFiltering(const std::map&lt; int, Transform &gt; &amp;poses, const Transform &amp;cameraPose, float horizontalFOV=45.0f, float verticalFOV=45.0f, float nearClipPlaneDistance=0.1f, float farClipPlaneDistance=100.0f, bool negative=false)</div><div class="ttdoc">Keeps poses inside (or outside) a camera frustum.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a83c41a7cdd595ae6f76d3f1c5140c215"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215">rtabmap::graph::calcRelativeErrors</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT calcRelativeErrors(const std::vector&lt; Transform &gt; &amp;poses_gt, const std::vector&lt; Transform &gt; &amp;poses_result, float &amp;t_err, float &amp;r_err)</div><div class="ttdoc">Mean frame-to-frame relative pose error (RPE-style, one step).</div></div> <div class="ttc" id="anamespacertabmap_1_1graph_html_a83c41a7cdd595ae6f76d3f1c5140c215"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215">rtabmap::graph::calcRelativeErrors</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT calcRelativeErrors(const std::vector&lt; Transform &gt; &amp;poses_gt, const std::vector&lt; Transform &gt; &amp;poses_result, float &amp;t_err, float &amp;r_err)</div><div class="ttdoc">Mean frame-to-frame relative pose error (RPE-style, one step).</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a8acc34fed4cb4e452e8e14d05dafc578"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a8acc34fed4cb4e452e8e14d05dafc578">rtabmap::graph::computePathDepths</a></div><div class="ttdeci">std::map&lt; int, int &gt; RTABMAP_CORE_EXPORT computePathDepths(const std::multimap&lt; int, int &gt; &amp;links, int from, int maxDepth=0)</div><div class="ttdoc">Single-source graph depth via BFS.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a8cd823f440a4512407ef78d76ff1dbbf"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">rtabmap::graph::findNearestPoses</a></div><div class="ttdeci">std::map&lt; int, Transform &gt; RTABMAP_CORE_EXPORT findNearestPoses(int nodeId, const std::map&lt; int, Transform &gt; &amp;poses, float radius, float angle=0.0f, int k=0)</div><div class="ttdoc">Like findNearestNodes(int,const std::map&lt;int,Transform&gt;&amp;,float,float,int) but returns full Transform ...</div></div> <div class="ttc" id="anamespacertabmap_1_1graph_html_a8cd823f440a4512407ef78d76ff1dbbf"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">rtabmap::graph::findNearestPoses</a></div><div class="ttdeci">std::map&lt; int, Transform &gt; RTABMAP_CORE_EXPORT findNearestPoses(int nodeId, const std::map&lt; int, Transform &gt; &amp;poses, float radius, float angle=0.0f, int k=0)</div><div class="ttdoc">Like findNearestNodes(int,const std::map&lt;int,Transform&gt;&amp;,float,float,int) but returns full Transform ...</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a92dfe14b22f897e11bf5bf3f7a7c9157"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">rtabmap::graph::findNearestNodes</a></div><div class="ttdeci">std::map&lt; int, float &gt; RTABMAP_CORE_EXPORT findNearestNodes(int nodeId, const std::map&lt; int, Transform &gt; &amp;poses, float radius, float angle=0.0f, int k=0)</div><div class="ttdoc">Spatial neighbors of a node (KD-tree radius or k-NN search).</div></div> <div class="ttc" id="anamespacertabmap_1_1graph_html_a92dfe14b22f897e11bf5bf3f7a7c9157"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">rtabmap::graph::findNearestNodes</a></div><div class="ttdeci">std::map&lt; int, float &gt; RTABMAP_CORE_EXPORT findNearestNodes(int nodeId, const std::map&lt; int, Transform &gt; &amp;poses, float radius, float angle=0.0f, int k=0)</div><div class="ttdoc">Spatial neighbors of a node (KD-tree radius or k-NN search).</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a96a6c2e8348e3d9cfd8b1770d17da9b2"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2">rtabmap::graph::exportGPS</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT exportGPS(const std::string &amp;filePath, const std::map&lt; int, GPS &gt; &amp;gpsValues, unsigned int rgba=0xFFFFFFFF)</div><div class="ttdoc">Exports GPS samples to a PLY point cloud.</div></div> <div class="ttc" id="anamespacertabmap_1_1graph_html_a96a6c2e8348e3d9cfd8b1770d17da9b2"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2">rtabmap::graph::exportGPS</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT exportGPS(const std::string &amp;filePath, const std::map&lt; int, GPS &gt; &amp;gpsValues, unsigned int rgba=0xFFFFFFFF)</div><div class="ttdoc">Exports GPS samples to a PLY point cloud.</div></div>
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<li>computeMinMax()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410">rtabmap::graph</a></li> <li>computeMinMax()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410">rtabmap::graph</a></li>
<li>computeNormalsComplexity()&#160;:&#160;<a class="el" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">rtabmap::util3d</a></li> <li>computeNormalsComplexity()&#160;:&#160;<a class="el" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">rtabmap::util3d</a></li>
<li>computePath()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a1ec6b9506985624f31fb2091219cb142">rtabmap::graph</a></li> <li>computePath()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a1ec6b9506985624f31fb2091219cb142">rtabmap::graph</a></li>
<li>computePathDepths()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a8acc34fed4cb4e452e8e14d05dafc578">rtabmap::graph</a></li>
<li>computePathLength()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">rtabmap::graph</a></li> <li>computePathLength()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">rtabmap::graph</a></li>
<li>computeRoi()&#160;:&#160;<a class="el" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">rtabmap::util2d</a></li> <li>computeRoi()&#160;:&#160;<a class="el" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">rtabmap::util2d</a></li>
<li>computeVarianceAndCorrespondences()&#160;:&#160;<a class="el" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">rtabmap::util3d</a></li> <li>computeVarianceAndCorrespondences()&#160;:&#160;<a class="el" href="group__ComputeVarianceAndCorrespondences.html#ga92518a7b79e9265380f3a047e46ec247">rtabmap::util3d</a></li>
<li>concatenate()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d</a></li> <li>concatenate()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d</a></li>
<li>concatenateClouds()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b">rtabmap::util3d</a></li> <li>concatenateClouds()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b">rtabmap::util3d</a></li>
<li>convertImage8U2Map()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#acb47883439442306b63f5bf234e87049">rtabmap::util3d</a></li> <li>convertImage8U2Map()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#acb47883439442306b63f5bf234e87049">rtabmap::util3d</a></li>
<li>convertMap2Image8U()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#ae57dd8dcc488496a2c3872eba97eb4e4">rtabmap::util3d</a></li> <li>convertMap2Image8U()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#ae57dd8dcc488496a2c3872eba97eb4e4">rtabmap::util3d</a></li>
<li>countUniquePairs()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#af7d4d348836959bbdce0e5db0a4af91c">rtabmap::util3d</a></li> <li>countUniquePairs()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#af7d4d348836959bbdce0e5db0a4af91c">rtabmap::util3d</a></li>
<li>create2DMap()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#afff989b8fc8d612a69d82bdfa7a28fe8">rtabmap::util3d</a></li> <li>create2DMap()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23">rtabmap::util3d</a></li>
<li>create2DMapFromOccupancyLocalMaps()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a86ea393c958183f10da8f7327e25d894">rtabmap::util3d</a></li> <li>create2DMapFromOccupancyLocalMaps()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a86ea393c958183f10da8f7327e25d894">rtabmap::util3d</a></li>
<li>createPolygonIndexes()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a9ebe11bdf534e3bdbcb2802d5dd70e62">rtabmap::util3d</a></li> <li>createPolygonIndexes()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a9ebe11bdf534e3bdbcb2802d5dd70e62">rtabmap::util3d</a></li>
<li>cropBox()&#160;:&#160;<a class="el" href="group__CropBox.html#ga0fe7f976bca4c8ec9dd0afa95f590c72">rtabmap::util3d</a></li> <li>cropBox()&#160;:&#160;<a class="el" href="group__CropBox.html#ga0fe7f976bca4c8ec9dd0afa95f590c72">rtabmap::util3d</a></li>
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<li>computeMinMax()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410">rtabmap::graph</a></li> <li>computeMinMax()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410">rtabmap::graph</a></li>
<li>computeNormalsComplexity()&#160;:&#160;<a class="el" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">rtabmap::util3d</a></li> <li>computeNormalsComplexity()&#160;:&#160;<a class="el" href="group__ComputeNormalsComplexity.html#ga3724a082502fbef6222c11843ca56b58">rtabmap::util3d</a></li>
<li>computePath()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">rtabmap::graph</a></li> <li>computePath()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">rtabmap::graph</a></li>
<li>computePathLength()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">rtabmap::graph</a></li> <li>computePathDepths()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a8acc34fed4cb4e452e8e14d05dafc578">rtabmap::graph</a></li>
<li>computeRoi()&#160;:&#160;<a class="el" href="group__RoiComputation.html#ga79d3f93673fb236980f0be532695f478">rtabmap::util2d</a></li> <li>computePathLength()&#160;:&#160;<a class="el" href="namespacertabmap_1_1graph.html#a14376d7f2365ab41e5c361876c999277">rtabmap::graph</a></li>
<li>computeRoi()&#160;:&#160;<a class="el" href="group__RoiComputation.html#ga2f0ffb8f6882e28709b03446d50250bb">rtabmap::util2d</a></li>
<li>computeVarianceAndCorrespondences()&#160;:&#160;<a class="el" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">rtabmap::util3d</a></li> <li>computeVarianceAndCorrespondences()&#160;:&#160;<a class="el" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">rtabmap::util3d</a></li>
<li>concatenate()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d</a></li> <li>concatenate()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d</a></li>
<li>concatenateClouds()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b">rtabmap::util3d</a></li> <li>concatenateClouds()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a863268b894de375aa45485dafe52dd7b">rtabmap::util3d</a></li>
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<li>create2DMap()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#afff989b8fc8d612a69d82bdfa7a28fe8">rtabmap::util3d</a></li> <li>create2DMap()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#afff989b8fc8d612a69d82bdfa7a28fe8">rtabmap::util3d</a></li>
<li>create2DMapFromOccupancyLocalMaps()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a86ea393c958183f10da8f7327e25d894">rtabmap::util3d</a></li> <li>create2DMapFromOccupancyLocalMaps()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a86ea393c958183f10da8f7327e25d894">rtabmap::util3d</a></li>
<li>createPolygonIndexes()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a9ebe11bdf534e3bdbcb2802d5dd70e62">rtabmap::util3d</a></li> <li>createPolygonIndexes()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util3d.html#a9ebe11bdf534e3bdbcb2802d5dd70e62">rtabmap::util3d</a></li>
<li>cropBox()&#160;:&#160;<a class="el" href="group__CropBox.html#ga43309cd4b35fcbe7a746ccb1dc9a1b4f">rtabmap::util3d</a></li> <li>cropBox()&#160;:&#160;<a class="el" href="group__CropBox.html#ga0fe7f976bca4c8ec9dd0afa95f590c72">rtabmap::util3d</a></li>
<li>cvtDepthFromFloat()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util2d.html#a6740b13198a2c437ab51d8e0503f2d33">rtabmap::util2d</a></li> <li>cvtDepthFromFloat()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util2d.html#a6740b13198a2c437ab51d8e0503f2d33">rtabmap::util2d</a></li>
<li>cvtDepthToFloat()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util2d.html#a0e4631bed561b3a694a1a65853221f75">rtabmap::util2d</a></li> <li>cvtDepthToFloat()&#160;:&#160;<a class="el" href="namespacertabmap_1_1util2d.html#a0e4631bed561b3a694a1a65853221f75">rtabmap::util2d</a></li>
</ul> </ul>
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<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="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="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="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="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="memdesc:ae21d02d613df461d6163f9d9a3db7ad2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dijkstra shortest path on link constraints. <br /></td></tr>
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@@ -1481,6 +1484,53 @@ std::map&lt; int, <a class="el" href="classrtabmap_1_1Transform.html">Transform<
</dl> </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> <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>
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<td></td>
<td>)</td>
<td></td><td></td>
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</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>
</div> </div>
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<title>RTAB-Map | Real-Time Appearance-Based Mapping</title> <title>RTAB-Map | Real-Time Appearance-Based Mapping</title>